This paper proposes a method of hip and knee joints coordination control planning based on virtual force. Firstly, the kinematic model of biped robot is established according to the physiological structure of human body. Secondly, the kinematics equation is established based on the jumping motion characteristics of the hip and knee joints, and the motion angles and angular velocities of the hip and knee joints are solved by inverse kinematics. Then, in order to optimize the motion posture, balance the driving power of the joints, and reduce the driving burden of the knee joint, a coordinated hip-knee joint control strategy and its implementation method for biped robot jumping motion are proposed based on virtual force control method. Finally, the effectiveness of the proposed method is verified by comparing and analyzing the simulation data of biped robot with the measurement data of human motion.

提出了一种基于虚拟力的髋，膝关节协调控制计划方法。首先，根据人体的生理结构建立了两足机器人的运动学模型。其次，根据髋关节和膝关节的跳跃运动特性建立运动学方程，并通过逆运动学方法求解髋关节和膝关节的运动角度和角速度。然后，为了优化运动姿势，平衡关节的驱动力，减轻膝关节的驱动负担，提出了一种基于虚拟的双足机器人跳跃运动协调控制策略及其实现方法。力控制方法。最后，