This article presents the modeling process of the lower part of a humanoid biped robot in terms of kinematic/dynamic states and the creation of a full dynamic simulation environment for a walking robot using MATLAB/Simulink. This article presents two different approaches for offline walking pattern generation: one relying on a closed-form solution of the linear inverted pendulum model (LIPM) mathematical model and another that considers numerical optimization as means of desired output trajectory following for a cart table state-space model. This article then investigates the possibility of introducing solution-dependent modifications to both approaches that could increase the reliability of basic walking pattern generation models in terms of smooth single support–double support phase transitioning and power consumption optimization. The algorithms were coded into offline walking pattern generators for NAO humanoid robot as a valid example and the two approaches were compared against each other in terms of stability, power consumption, and computational effort as well as against their basic unmodified counterparts.

本文介绍了仿人双足机器人下部的运动学/动力学建模过程，以及使用 MATLAB/Simulink 为步行机器人创建全动态仿真环境。本文介绍了两种不同的离线行走模式生成方法：一种依赖于线性倒立摆模型 (LIPM) 数学模型的封闭形式解决方案，另一种将数值优化视为购物车表状态所需输出轨迹跟踪的手段-空间模型。然后，本文研究了对两种方法引入依赖于解决方案的修改的可能性，这些修改可以在平滑的单支撑-双支撑相变和功耗优化方面提高基本步行模式生成模型的可靠性。