http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-110039544-A
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_a431cf4c64da0f89eccaa9aa30b43b7f |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-163 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1664 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-16 |
| filingDate | 2019-04-28-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_8f76b568d450935333f3fa7b52500724 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_e2c62008f82f037240be2c29affce67b |
| publicationDate | 2019-07-23-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-110039544-A |
| titleOfInvention | Gait Planning of Humanoid Soccer Robot Based on Cubic Spline Interpolation |
| abstract | The gait planning of a humanoid soccer robot based on cubic spline interpolation includes the following steps: Step 1, establish a kinematic model through the structure of the robot; Step 2, based on the kinematic model, combined with the method of spatial cubic spline interpolation. The gait of the robot is planned; in step 3, the gait of the robot is optimized by the stability control algorithm of vibration suppression. The invention improves the instability of the robot's walking, so that the robot has good robustness to realize behaviors such as walking and kicking a ball; the cubic spline interpolation planning method is adopted, which can be well guaranteed in the planning of the NAO robot's football movement gait. The geometric relationship between the joints is also more convenient for the realization of the subsequent stability optimization; the deviation angle and deviation distance during the walking process are greatly reduced through the new gait planning and algorithm optimization, and the walking of the robot is greatly reduced. Accuracy and stability have been greatly improved. |
| isCitedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-112486177-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-112859856-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-112859856-B http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-113134833-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114355964-B http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114355964-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-110315543-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-112035965-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-112035965-B http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-113183164-A |
| priorityDate | 2019-04-28-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
Total number of triples: 26.