通过引入基于平均功率、平均功率偏差、平均力矩损耗三个能耗指标对拟人机器人步态进行了优化与分析。
Gait of humanoid robot is optimized and analyzed by introducing three energy consumption indexes: mean power, mean power derivation and mean torque consumption.
此外，对于机器人交叉行走步态，还提出了一种基于能量最优的优化算法，应用于该机器人，从而得到了相应优化参数。
Moreover, an optimization method based on minimal energy consumption is suggested and applied on the robot to attain optimized parameters.
进一步基于零力矩点理论，提出了一种综合机构修正和步态修正方法的步态规划集成优化策略。
Furthermore, based on the ZMP theory, the structure and gait optimization method were integrated to modify the gait locomotion.
针对双足机器人步行问题，提出了一种基于分离设计/集成优化的步态规划方法。
Objective: To explore a kind of gait programming algorithm for the gait training robot used in partial body weight support training (PBWST).
针对双足机器人步行问题，提出了一种基于分离设计/集成优化的步态规划方法。
Objective: To explore a kind of gait programming algorithm for the gait training robot used in partial body weight support training (PBWST).
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