| 摘要: |
| 运动轨迹辨识是机器人研究领域中的一个热点问题，运用最小二乘法对步态机器人的运动轨迹进行研究.测量并计算了人体步态特征参数；在此基础上，通过曲线拟合的方法，为下肢各个关节部位建立相对应的数学模型，得到了步态机器人运动轨迹的整体数学模型；最后，利用得到的数学模型表达式验证了文中所提研究方法的可行性与有效性. |
| 关键词: 步态机器人 运动轨迹 曲线拟合法 步态特征参数 |
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| Trajectory Identification of Gait Robot Movement based on Least Square |
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CHEN Zhi-yong, ZHANG Ping-gai, QIAN Yan-yan
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| Abstract: |
| Movement trajectory identification is a hot topic in robot research field, this paper uses least square to study the movement trajectory of the gait robots, measures and calculates the characteristic parameters of human gait, based on this, uses curve fitting method to set up the corresponding mathematical models for each joint position of lower limbs, receives the overall mathematical model of gait robot movement trajectory, and finally uses the received mathematical model formula to prove the feasibility and validity of the research methods held by this paper. |
| Key words: gait robot movement trajectory curve fitting method gait characterictis parameter |
