A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP

来源：机器人杂志2017年第5期北京时间：

作者：YANG Tianqi, ZHANG Weimin, HUANG Qiang, CHEN Xuechao, YU Zhanguo, MENG Libo

摘要：Based on the ZMP (zero moment point) trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.

关键词：gait planning, multi-link model, allowable ZMP(zero moment point)region, ZMP planning algorithm