CN103770111A - Gait planning and synthetic method for humanoid robot - Google Patents

Abstract

The invention discloses a gait planning and synthetic method for a humanoid robot, and belongs to the technical field of motion planning of the humanoid robot. The method comprises the steps of adopting a polynomial function to show the track of a hip joint and the track of the tail end of a swing leg of the robot, respectively planning gaits of the single-leg supporting period and the double-leg supporting period in robot walking according to constraint conditions in humanoid robot walking, such as geometric constraint, the largest crossing height of the tail end of the swing leg, the influences of periodicity and collision of the gaits, and motion of the hip joint, then conducting synthesis on the planned gaits, and judging whether the obtained gait track is stable or not according to zero moment criterion. According to the method, the gaits of the single-leg supporting period and the double-leg supporting period of the robot are planned and synthesized into the complete gait, the problem of the influence of the collision of the legs and the ground on walking stability in robot walking is solved, the walking stability of the robot is improved, and meanwhile the important effect of the gaits of the robot in the double-leg supporting period on the complete gait period is achieved.

Description

A kind of anthropomorphic robot gait planning and synthetic method

Technical field

The present invention relates to anthropomorphic robot motion planning field, particularly anthropomorphic robot gait planning and synthetic method.

Background technology

Anthropomorphic robot gait planning refers to the walking in order to complete robot, sequential and phase characteristic to each joint angle motion in robot ambulation process are determined, Yao Shi robot can complete some simple job tasks, as the target of upper limbs capture and mobile, simply with people's cooperative job, the walking that robot must can be stable.The method of current anthropomorphic robot gait planning mainly contains off-line planning, online planning and off-line planning and adds three kinds of methods of online correction.But no matter be which kind of planing method, the gait obtaining must have stability and periodicity.

In prior art before the present invention, complete gait cycle when anthropomorphic robot walking generally comprises a single pin and supports phase and a double support phase, wherein double support phase only account for wherein 20%.But for the stabilized walking of robot, double support phase plays a part very important, must consider the gait of double support phase.

After prior art is analyzed, inventor finds: in the time of robot walking, although shared time of robot double support phase is very short, have a great impact for the stability of whole gait cycle.If according to existing technology, just the gait of robot walking complete walking period is planned, so the moment of robot before single pin support phase finishes, pin and ground bump, and likely cause robot walking unstability, affect the stability of robot walking.

Summary of the invention

For above-mentioned prior art situation, the embodiment of the present invention provides a kind of gait planning and synthetic method that can obtain apery robot stabilized gait.

Now the technology of the present invention solution is described below:

Anthropomorphic robot gait planning and synthetic method, comprise the following steps:

Step 1: adopt polynomial function to represent robot hip joint and the track of the end of leading leg; Described polynomial function refers to:

$X_a=\left\{\begin{array}{c}{x}_a\left(t\right)=a_0+a_{1}t+a_2{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^2+a_3{t}^3\\ z_a\left(t\right)=b_0+b_{1}t+b_2{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^2+b_3{\mathrm{<figure-callout\; id="3"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^3+b_4{t}^4+b_5{\mathrm{<figure-callout\; id="5"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">\; <figure-callout\; id="0"\; label="t"\; filenames="HSA00000804414000011.png,HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>\; </figure-callout>}}^5\end{array}\right.,0\&le;t\&le;T_s---\left(1\right)$

Wherein, be illustrated in figure 1 a complete walking period of robot ambulation, establishing robot supporting leg end is origin of coordinates O (0,0), (x _a(t), z _a(t) be) to lead leg end with respect to the position coordinates of the origin of coordinates, the end of leading leg is at forward direction x _aand normal direction z (t) _a(t) track represents with a cubic polynomial and five order polynomials respectively, a ₀, a ₁, a ₂, a ₃, b ₀, b ₁, b ₂, b ₃, b ₄, b ₅it is undetermined coefficient.

x _hs(t)＝c ₀+c ₁t+c ₂t ²+c ₃t ³；0≤t≤T _s (2)

x _hd(t)＝d ₀+d ₁t+d ₂t ²+d ₃t ³；0≤t≤T _d (3)

z _hs(t)＝z _h(t)，0≤t≤T _s (4)

z _hd(t)＝z _h(t)，0≤t≤T _d (5)

Wherein, the track that hip joint supports phase and double support phase at single pin is used respectively vectorial X _hs(x _hs(t), z _hs) and X (t) _hd(x _hd(t), z _hd(t)) represent, represent respectively the propulsion track x of hip joint with two cubic polynomial functions _hsand z (t) _hd(t), the movement locus z of normal direction _hsand z (t) _hd(t) represent with a linear function;

Step 2: the constraints during according to anthropomorphic robot walking, obtain the coefficient of track polynomial function, while obtaining thus robot walking, single, double pin supports the track of phase; Constraints when described anthropomorphic robot walking refers to:

Step 2.1: the built on stilts in the time of starting of leading leg of geometrical constraint robot, kiss the earth while halting, so according to Coordinate system definition, can obtain:

z _a(0)＝0 (6)

z _a(T _s)＝0 (7)

Step 2.2: the maximum of the end of leading leg is across height

After robot starting, contact with ground to the end of leading leg during this period of time in, be in single leg support phase, for fear of leading leg and the unexpected collision on ground, to lead leg and before contacting with ground, have the distance of a bit of buffering, the maximum that this segment distance is defined as to the end of leading leg is across height.In some researchs, by x _aand z (t) _a(t) regard as and there is parabolical relation.Although this processing method can simplified characterization step-length and the maximum of the end of leading leg across high form, the gait that the method obtains does not have periodically.In the present invention, the maximum that defines the end of leading leg by equation is below across height.

x _a(T _m)＝S _m (8)

z _a(T _m)＝H _m (9)

${\stackrel{\&CenterDot;}{z}}_a\left(T_m\right)=0---\left(10\right)$

In formula (5), H _mto lead leg the maximum of end across height, S _mto lead leg end with respect to H _mthe coordinate on directions X, as shown in Figure 1.T _mthat the end of leading leg reaches maximum across the height time used.

Step 2.3: the periodicity of gait

Obtain periodic gait, must guarantee that attitude and the speed in the time that each step starts and finishes is identical.And at double support phase, the end of two legs all contacts with ground, and is static, so the speed in the time that single pin support phase starts is zero.Therefore have:

x _a(0)＝-D/2 (11)

x _a(T _s)＝D/2 (12)

${\stackrel{\&CenterDot;}{x}}_a\left(0\right)=0---\left(13\right)$

${\stackrel{\&CenterDot;}{z}}_a\left(0\right)=0---\left(14\right)$

Step 2.4: reduce collision impact

In robot ambulation process, lead leg while contact with ground, just and ground there is collision.Collision can cause the joint angle speed of robot to be undergone mutation, in order to reduce to collide the sudden change of the joint angle speed of bringing, can suppose to lead leg and collision on the ground after can not upspring, by make to lead leg end with collision on the ground before speed remain zero, so just can eliminate the sudden change of the joint angle speed of being brought by collision.Can obtain thus:

${\stackrel{\&CenterDot;}{x}}_a\left(T_m\right)=0---\left(15\right)$

${\stackrel{\&CenterDot;}{z}}_a\left(T_m\right)=0---\left(16\right)$

Utilize formula (6)-(16), can be in the hope of the coefficient in formula (1) and parameter T _m.Through type (1) so, just can obtain not colliding impact and the track of leading leg that meets planning requirement of gait parameter according to the rules.

Step 2.5: the motion of hip joint has very important impact for the walking stability of robot system.Be designated as:

x _hs(t)＝c ₀+c ₁t+c ₂t ²+c ₃t ³；0≤t≤T _s (17)

x _hd(t)＝d ₀+d ₁t+d ₂t ²+d ₃t ³；0≤t≤T _d (18)

z _hs(t)＝z _h(t)，0≤t≤T _s (19)

z _hd(t)＝z _h(t)，0≤t≤T _d (20)

Step 2.6: in order to obtain the track of hip joint, need to determine the coefficient in formula (17) and formula (18).When being located at single pin and supporting phase and double support phase and start, the position coordinates of hip joint on directions X is respectively S _s0and S _d0, the position coordinates in Z direction is H _h.Except considering that periodically gait collision impact, also will be considered the walking stability of robot double support phase with reducing.In the time of planning hip joint track, there is following restriction relation:

The hip joint motion of step 2.6.1:Z direction

In the process of walking, the center of gravity of robot is constantly changing in robot, and in order to make robot energy stabilized walking, in Z direction, the gravity center shift of robot should be as far as possible little, and namely the motion amplitude of hip joint in Z direction is very little.Suppose that the Z direction motion that hip joint supports phase and double support phase at single pin remains unchanged, and in whole walking period, has so:

z _hs(t)＝H _h (21)

z _hd(t)＝H _h (22)

H _hthe body construction according to robot, a given constant.

Step 2.6.2: the periodicity of gait

In order to guarantee that robot walking has periodically, the pose of robot and angular speed must be identical in the time that single pin support phase starts and when double support phase finishes.Therefore, there is following restriction relation:

x _hs(0)＝-S _s0 (23)

$x_{\mathrm{hd}}\left(T_d\right)=\frac{1}{2}D-S_{s0}---\left(24\right)$

${\stackrel{\&CenterDot;}{x}}_{\mathrm{hs}}\left(0\right)=V_{h1}---\left(25\right)$

${\stackrel{\&CenterDot;}{x}}_{\mathrm{hd}}\left(T_d\right)=V_{h1}---\left(26\right)$

In formula (25), V _h1the speed of hip joint in the time of each step starting.

Step 2.6.3: the continuity of gait

The continuity of gait is also to need to consider in robot gait planning, meet this requirement, the movement locus of hip joint must be continuous in whole gait cycle so, namely displacement and the speed at directions X must be identical in the time that single pin support phase finishes to start with double support phase constantly for hip joint, that is:

x _hd(0)＝S _d0 (27)

x _hs(T _s)＝S _d0 (28)

${\stackrel{\&CenterDot;}{x}}_{\mathrm{hs}}\left(T_s\right)=V_{h2}---\left(29\right)$

${\stackrel{\&CenterDot;}{x}}_{\mathrm{hd}}\left(0\right)=V_{h2}---\left(30\right)$

Step 3: by obtain robot walking time single, double pin support the track of phase and synthesize, the complete gait track while finally obtaining robot walking;

Step 4: according to zero point moment criterion judge that whether the gait track that obtains stable.Described zero point, moment criterion was: refer on robot foot and ground contact surface a bit, the reaction force on ground is zero in the equivalent moment horizontal component of this point.

$x_{\mathrm{zmp}}=\frac{\underset{i=1}{\overset{5}{\mathrm{\&Sigma;}}}{m}_i({\stackrel{\&CenterDot;\&CenterDot;}{z}}_i+g)x_i-\underset{i=1}{\overset{5}{\mathrm{\&Sigma;}}}{m}_i{\stackrel{\&CenterDot;\&CenterDot;}{x}}_i{z}_i}{\underset{i=1}{\overset{5}{\mathrm{\&Sigma;}}}{m}_i({\stackrel{\&CenterDot;\&CenterDot;}{z}}_i+g)}---\left(31\right)$

$y_{\mathrm{zmp}}=\frac{\underset{i=1}{\overset{5}{\mathrm{\&Sigma;}}}{m}_i({\stackrel{\&CenterDot;\&CenterDot;}{z}}_i+g)y_i-\underset{i=1}{\overset{5}{\mathrm{\&Sigma;}}}{m}_i{\stackrel{\&CenterDot;\&CenterDot;}{y}}_i{z}_i}{\underset{i=1}{\overset{5}{\mathrm{\&Sigma;}}}{m}_i({\stackrel{\&CenterDot;\&CenterDot;}{z}}_i+g)}---\left(32\right)$

z _zmp＝0 (33)

According to formula (31) and formula (32), just can obtain zmp trajectory figure at zero point, thereby judge that whether the walking of robot is stable.

Accompanying drawing explanation

Complete cycle gait schematic diagram when Tu1Shi robot propulsion;

Fig. 2 is hip joint forward direction track schematic diagram;

Fig. 3 is robot ambulation rod shape schematic diagram;

When Fig. 4 is anthropomorphic robot walking zero point zmp trajectory figure;

The specific embodiment

In order more clearly to set forth object of the present invention and technical scheme, below in conjunction with accompanying drawing, embodiments of the present invention are described in further detail.

For the track of the end that obtains leading leg, need to determine below the coefficient in formula (1) and determine the coefficient in formula (1) according to the constraints in robot ambulation process.

The parameter that given first is known, D=0.72m, T _s=0.6s, T _d=0.1s, T _c=T _s+ T _d=0.7s, T _m=0.3s, H _m=0.05m, H _h=1.2m, S _m=0m, S _s0=0.18m, S _d0=0.12m, V _h1=0.42m/s, V _h2=0.39m/s.

1, solve the lopcus function of leading leg

The rewriting lopcus function of leading leg is following formula:

$X_a=\left\{\begin{array}{c}{x}_a\left(t\right)=a_0+a_{1}t+a_2{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^2+a_3{t}^3\\ z_a\left(t\right)={\mathrm{<figure-callout\; id="0"\; label="b"\; filenames="HSA00000804414000011.png,HSA00000804414000022.png"\; state="\{\{state\}\}">b</figure-callout>}}_0+b_{1}t+b_2{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^2+b_3{\mathrm{<figure-callout\; id="3"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^3+b_4{t}^4+b_5{\mathrm{<figure-callout\; id="5"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">\; <figure-callout\; id="0"\; label="t"\; filenames="HSA00000804414000011.png,HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>\; </figure-callout>}}^5\end{array}\right.,0\&le;t\&le;T_s$

By formula (8), (10), (11), (12) and (13) simultaneous, that is:

$\left\{\begin{array}{c}{x}_a\left(T_m\right)=S_m\\ x_a\left(0\right)=-D/2\\ x_a\left(T_s\right)=D/2\\ {\stackrel{\&CenterDot;}{x}}_a\left(0\right)=0\\ {\stackrel{\&CenterDot;}{x}}_a\left(T_m\right)=0\end{array}\right.$

By this five equations and known parameter, just can obtain the coefficient a in formula (1) _i(i=0,1 ..., 3), be respectively: a ₀=-0.36, a ₁=0, a ₂=6.0, a ₃=-6.67,, by coefficient substitution formula (1), with regard to the lopcus function that has obtained leading leg on directions X be:

x _a(t)＝-0.36+6t ²-6.67t ³，0≤t≤0.6s (34)

Again by formula (6), (7), (9), (16), (14) and (16) simultaneous, that is:

$\left\{\begin{array}{c}{z}_a\left(0\right)=0\\ z_a\left(T_s\right)=0\\ z_a\left(T_m\right)=H_m\\ {\stackrel{\&CenterDot;}{z}}_a\left(T_m\right)=0\\ {\stackrel{\&CenterDot;}{z}}_a\left(0\right)=0\\ {\stackrel{\&CenterDot;}{z}}_a\left(T_m\right)=0\end{array}\right.$

By this six equations and known parameter, just can obtain the coefficient b in formula (1) _i(i=0,1 ..., 5), be respectively: b ₀=0, b ₁=0, b ₂=2.22, b ₃=-7.41, b ₄=6.17, b ₅=0,, by coefficient substitution formula (1), with regard to the lopcus function that has obtained leading leg in Z direction be:

z _a(t)＝2.22t ²-7.41t ³+6.17t ⁴，0≤t≤0.6s (35)

By formula (34) and formula (35), the lopcus function that just can obtain leading leg, that is:

$X_a=\left\{\begin{array}{c}{x}_a\left(t\right)=-0.36+6t^2-6.67t^3\\ z_a\left(t\right)=2.22t^2-7.41{\mathrm{<figure-callout\; id="3"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^3+6.17{\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="HSA00000804414000011.png,HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^4\end{array}\right.,0\&le;t\&le;0.6s---\left(36\right)$

Gait during due to robot ambulation has periodically and symmetry, has therefore obtained just can the be supported track of leg of the track of leading leg.

2, solve hip joint lopcus function

Rewriteeing hip joint lopcus function is following formula:

x _hs(t)＝c ₀+c ₁t+c ₂t ²+c ₃t ³，0≤t≤T _s

x _hd(t)＝d ₀+d ₁t+d ₂t ²+d ₃t ³，T _s≤t≤T _d

z _hs(t)＝z _h(t)，0≤t≤T _s

z _hd(t)＝z _h(t)，T _s≤t≤T _d

First ask hip joint to support the track of phase at single pin.Constraint equation is:

$\left\{\begin{array}{c}{z}_{\mathrm{hs}}\left(t\right)=H_h\\ x_{\mathrm{hs}}\left(0\right)=-S_{s0}\\ {\stackrel{\&CenterDot;}{x}}_{\mathrm{hs}}\left(0\right)=V_{h1}\\ x_{\mathrm{hs}}\left(T_s\right)=S_{d0}\\ {\stackrel{\&CenterDot;}{x}}_{\mathrm{hs}}\left(T_s\right)={\mathrm{<figure-callout\; id="2"\; label="V\; h"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">V</figure-callout>}}_h\end{array}\right.$

According to known parameters and constraint equation, be easy to the coefficient c in the formula of trying to achieve (2) _i(i=0,1 ..., 3) be: c ₀=-0.18, c ₁=0.42, c ₂=-0.049, c ₃=0.325, can obtain the lopcus function that hip joint supports the phase at single pin and be:

x _hs(t)＝-0.18+0.42t-0.049t ²+0.325t ³，0≤t≤0.6s (37)

z _hs(t)＝1.2，0≤t≤0.6s (38)

By formula (37) and formula (38), just can obtain hip joint and support the lopcus function of phase at single leg, that is:

$X_{\mathrm{hs}}=\left\{\begin{array}{c}{x}_{\mathrm{hs}}\left(t\right)=-0.18+0.42t-0.049{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^2+0.325t^3\\ z_{\mathrm{hs}}\left(t\right)=1.2\end{array}\right.,0\&le;t\&le;0.6s---\left(39\right)$

3, solve hip joint and support the track of phase at both legs, constraint equation is:

$\left\{\begin{array}{c}{z}_{\mathrm{hd}}\left(t\right)=H_h\\ x_{\mathrm{hd}}\left(T_d\right)=\frac{1}{2}D-S_{s0}\\ {\stackrel{\&CenterDot;}{x}}_{\mathrm{hd}}\left(T_d\right)=V_{h1}\\ x_{\mathrm{hd}}\left(0\right)=S_{d0}\\ {\stackrel{\&CenterDot;}{x}}_{\mathrm{hd}}\left(0\right)={\mathrm{<figure-callout\; id="2"\; label="V\; h"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">V</figure-callout>}}_h\end{array}\right.$

According to known parameters and constraint equation, be easy to the coefficient d in the formula of trying to achieve (3) _i(i=0,1 ..., 3) be: d ₀=0.12, d ₁=0.39, d ₂=-0.194, d ₃=2.293, can obtain hip joint and at the lopcus function of double support phase be:

x _hd(t)＝0.12+0.39t-0.194t ²+2.293t ³，0.6s≤t≤0.7s (40)

z _hd(t)＝1.2，0.6s≤t≤0.7s (41)

By formula (40) and formula (41), just can obtain hip joint and support the lopcus function of phase at single leg, that is:

$X_{\mathrm{hd}}=\left\{\begin{array}{c}{x}_{\mathrm{hd}}\left(t\right)=0.12+0.39t-0.194{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000804414000022.png"\; state="\{\{state\}\}">t</figure-callout>}}^2+2.293t^3\\ z_{\mathrm{hd}}\left(t\right)=1.2\end{array}\right.,0.6s\&le;t\&le;0.7s---\left(42\right)$

What Fig. 2 represented is the track of hip joint, due in the time planning hip joint track, respectively the hip joint track of single pin support phase and double support phase is planned, as can be seen from the figure, the track that single pin supports phase and double support phase is continuous.

Fig. 3 is the plane walking rod shape figure of five link robots, and robot supports the entire motion of phase and double support phase at single pin as we can see from the figure.The attitude of robot in the time of each EOS and the attitude of beginning are identical substantially, and the deformation trace of robot center of gravity is almost level, and robot is described, and gravity center shift is little in the process of walking, and the walking that proves robot is stable.

Fig. 4 is forward direction zmp trajectory at zero point figure, and as can be seen from the figure zero point, zmp trajectory was substantially at the center of stability region, and robot walking is stable.

The present invention is directed to the problem of seldom considering double support phase gait in current gait planning, propose to support based on the single pin under constraints the synthetic method of gait of phase and double support phase, the problem of leg and the impact of collision on the ground on walking stability while having solved robot walking, and adopt polynomial function to cook up the lead leg track of end and hip joint of robot, illustrate that robot can not ignore in the gait of double support phase, the gait track that planning obtains simultaneously has continuity, stability and periodically.

Claims (10)

1. anthropomorphic robot gait planning and a synthetic method, is characterized in that: comprise the following steps:

Step 1: adopt polynomial function to represent robot hip joint and the track of the end of leading leg;

Step 2: the constraints during according to anthropomorphic robot walking, obtain the coefficient of track polynomial function, while obtaining thus robot walking, single, double pin supports the track of phase;

Step 3: by obtain robot walking time single, double pin support the track of phase and synthesize, the complete gait track while finally obtaining robot walking;

Step 4: according to zero point moment criterion judge that whether the gait track that obtains stable; Described zero point, moment criterion was: on robot foot and ground contact surface a bit, the reaction force on ground is zero in the equivalent moment horizontal component of this point;

z _zmp＝0(33)

According to formula (31) and formula (32), just can obtain zmp trajectory figure at zero point, thereby judge that whether the walking of robot is stable.

2. a kind of anthropomorphic robot gait planning according to claim 1 and synthetic method, is characterized in that: the polynomial function described in step 1 refers to:

Wherein, a complete walking period of robot ambulation, establishing robot supporting leg end is origin of coordinates O (0,0), (x _a(t), z _a(t) be) to lead leg end with respect to the position coordinates of the origin of coordinates, the end of leading leg is at forward direction x _aand normal direction z (t) _a(t) track represents with a cubic polynomial and five order polynomials respectively, a ₀, a ₁, a ₂, a ₃, b ₀, b ₁, b ₂, b ₃, b ₄, b ₅it is undetermined coefficient.

x _hs(t)＝c ₀+c ₁t+c ₂t ²+c ₃t ³；0≤t≤T _s (2)

x _hd(t)＝d ₀+d ₁t+d ₂t ²+d ₃t ³；0≤t≤T _d (3)

z _hs(t)＝z _h(t)，0≤t≤T _s (4)

z _hd(t)＝z _h(t)，0≤t≤T _d (5)

Wherein, the track that hip joint supports phase and double support phase at single pin is used respectively vectorial X _hs(x _hs(t), z _hs) and X (t) _hd(x _hd(t), z _hd(t)) represent, represent respectively the propulsion track x of hip joint with two cubic polynomial functions _hsand z (t) _hd(t), the movement locus z of normal direction _hsand z (t) _hd(t) represent with a linear function.

3. a kind of anthropomorphic robot gait planning according to claim 1 and synthetic method, is characterized in that: constraints when anthropomorphic robot walking described in step 2 refers to: the maximum of geometrical constraint, the end of leading leg across the periodicity constraint of height constraint, gait, reduce the motion of collision impact constraint, hip joint for the walking stability constraint of robot system.

4. a kind of anthropomorphic robot gait planning according to claim 3 and synthetic method, is characterized in that: the concrete of described geometrical constraint determines that method is:

The built on stilts in the time of starting of leading leg of robot, kiss the earth while halting, obtains according to Coordinate system definition:

z _a(0)＝0 (6)

z _a(T _s)＝0 (7)

5. a kind of anthropomorphic robot gait planning according to claim 3 and synthetic method, is characterized in that: the maximum of the described end of leading leg is determined by equation below across high constraint:

x _a(T _m)＝S _m (8)

z _a(T _m)＝H _m (9)

In formula (5), H _mto lead leg the maximum of end across height, S _mto lead leg end with respect to H _mthe coordinate on directions X, T _mthat the end of leading leg reaches maximum across the height time used.

6. a kind of anthropomorphic robot gait planning according to claim 3 and synthetic method, is characterized in that: the periodic constraint of described gait must guarantee that attitude and the speed in the time that each step starts and finishes is identical.And at double support phase, the end of two legs all contacts with ground, and is static, therefore the speed in the time that single pin support phase starts is zero, therefore have:

x _a(0)＝-D/2 (11)

x _a(T _s)＝D/2 (12)

7. a kind of anthropomorphic robot gait planning according to claim 3 and synthetic method, it is characterized in that: the described constraint that reduces collision impact by make to lead leg end with collision on the ground before speed remain zero, to eliminate the sudden change of the joint angle speed of being brought by collision, thus:

Utilize formula (6)-(16), can be in the hope of the coefficient in formula (1) and parameter T _m, through type (1), just can obtain not colliding impact and the track of leading leg that meets planning requirement of gait parameter according to the rules.

8. a kind of anthropomorphic robot gait planning according to claim 3 and synthetic method, is characterized in that: the motion of described hip joint is designated as for the walking stability constraint of robot system:

x _hs(t)＝c ₀+c ₁t+c ₂t ²+c ₃t ³；0≤t≤T _s (17)

x _hd(t)＝d ₀+d ₁t+d ₂t ²+d ₃t ³；0≤t≤T _d (18)

z _hs(t)＝z _h(t)，0≤t≤T _s (19)

z _hd(t)＝z _h(t)，0≤t≤T _d (20)

9. a kind of anthropomorphic robot gait planning according to claim 8 and synthetic method, is characterized in that: the motion of described hip joint need to obtain the track of hip joint and determine the coefficient in formula (17) and formula (18) for the walking stability constraint of robot system; The restriction relation of the track of hip joint comprises: the hip joint motion of Z direction, the periodicity of gait, the continuity of gait.

10. a kind of anthropomorphic robot gait planning according to claim 8 and synthetic method, is characterized in that: the periodicity of described gait has following restriction relation:

x _hs(0)＝-S _s0 (23)

In formula (25), V _h1the speed of hip joint in the time of each step starting;

The continuity of described gait has following restriction relation:

x _hd(0)＝s _d0 (27)

x _hs(T _s)＝S _d0 (28)

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