%0 Journal Article
%T Three-dimensional Gait Planning for Humanoid Robots Based on Decoupling Synthesis and ZMP Algorithm<br>基于解藕合成及ZMP方程的仿人机器人三维步态规划
%A WANG Zhi-liang
%A YU Guo-chen
%A XIE Lun
%A <br>王志良
%A 于国晨
%A 解仑
%J 计算机科学
%D 2010
%I 
%X This paper presented a new type of humanoid robot gait planning method. The gait of humanoid robot was simplified as 7-link model, lateral gait of humanoid robot was simplified as 5-link model. And then in the case of the same Z coordinate, threcdimensional gait was synthesized. Eventually the method Conducted a validation and simulation through ZMP equation, combined with the actual system and its operational status analysis, the effectiveness of the proposed planning method was verified.
%K Humanoid robot
%K Decoupling synthesis
%K ZMP equation
%K Three-dimensional gait<br>仿人机器人，解藕合成，ZMP方程，三维步态
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=64A12D73428C8B8DBFB978D04DFEB3C1&aid=CA3F225BC9764F35C7A6366DB0B11FA4&yid=140ECF96957D60B2&vid=42425781F0B1C26E&iid=59906B3B2830C2C5&sid=1B64850025D0BBBE&eid=F9F74EC1AA08A7B9&journal_id=1002-137X&journal_name=计算机科学&referenced_num=0&reference_num=0