双足机器人行走稳定性研究
DOI: 10.3969/j.issn.1006-7043.2009.11.015
Keywords: 双足机器人 行走稳定性 综合稳定性判据 支撑区域描述 Biped robot walking stability comprehensive stability criterion support area description
Abstract:
双足机器人行走的稳定性是双足行走最为重要的衡量指标之一.针对传统的基于零力矩点（ZMP）步态稳定性判据方法,分析了ZMP、COP的相互关系,表明在双足机器人与水平地面无粘性力和无吸附力作用下,其ZMP即为压力中心点COP.基于具有足趾关节的双足机器人足底支撑面多种变化,提出对多点接触时支撑多边形区域描述.结合ZMP/COP、COG的在支撑面内相对位置,提出了基于ZMP/COP、COG的综合稳定性判据.经仿真分析,与传统单一的ZMP稳定性判据相比,该综合稳定性判据能够更为准确地反映步态的稳定性.
| [1] | 1. CHESTNUTT J.LAU M.CHEUNG G.KUFFNER J,HODGINS J Footstep planning for the Honda ASIMO humanoid 2005
|
| [2] | 2. ENDO G.NAKANISHI J.MORIMOTO J.CHENG G Experimental Studies of a neural oscillator for biped locomotion with QRIO 2005
|
| [3] | 3. NISHIWAKI K.KAGAMI S.KUNIYOSHI Y.INABA M,INOUE H Toe joints that enhance bipedal and fullbody motion of humanoid robots 2002
|
| [4] | 4. 赵晓军.黄强.彭朝琴.张利格.李科杰 基于人体运动的仿人型机器人动作的运动学匹配 [期刊论文] -机器人2005(4)
|
| [5] | 5. VUKOBRATOVIC M Zero moment point,thirty five years of its life 2004(1)
|
| [6] | 6. KAJITA S.KANEHIRO F.KANEKO K Biped walking pattern generation by using preview control of zero-moment point 2003
|
| [7] | 7. GOSWAMI A Postural stability of biped robots and the foot-rotation indicator (FRI) point 1999(6)
|
| [8] | 8. YIN C.ALBERS A.OTTNAD J.HAUBLER P Stability maintenance of a humanoid robot under disturbance with fictitious zero-moment point (FZMP) 2005
|
Full-Text
