| 仿人机器人跑步稳定性准则 |
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| 引用本文： | 李朝晖,黄强,李科杰.仿人机器人跑步稳定性准则[J].自动化学报,2005,31(4):606-611. |
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| 作者姓名： | 李朝晖 黄强 李科杰 |
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| 作者单位： | 1.Department of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 |
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| 基金项目： | SupportedbytheNational“863”HighTechnologyProgramofP.R.China |
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| 摘 要： | A humanoid robot has high mobility but possibly risks of tipping over. Until now, one main topic on humanoid robots is to study the walking stability; the issue of the running stability has rarely been investigated. The running is different from the walking, and is more difficult to maintain its dynamic stability. The objective of this paper is to study the stability criterion for humanoid running based on the whole dynamics. First, the cycle and the dynamics of running are analyzed. Then, the stability criterion of humanoid running is presented. Finally, the effectiveness of the proposed stability criterion is illustrated by a dynamic simulation example using a dynamic analysis and design system (DADS).
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| 关 键 词： | Humanoid robot running stability criterion |
| 收稿时间： | 2003-10-20 |
| 修稿时间： | 2003年10月20 |
Stability Criterion for Humanoid Running |
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| LI Zhao-Hui,HUANG Qiang,LI Ke-jie.Stability Criterion for Humanoid Running[J].Acta Automatica Sinica,2005,31(4):606-611. |
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| Authors: | LI Zhao-Hui HUANG Qiang LI Ke-jie |
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| Affiliation: | 1.Department of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 |
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| Abstract: | A humanoid robot has high mobility but possibly risks of tipping over. Until now, one main topic on humanoid robots is to study the walking stability; the issue of the running stability has rarely been investigated. The running is different from the walking, and is more difficult to maintain its dynamic stability. The objective of this paper is to study the stability criterion for humanoid running based on the whole dynamics. First, the cycle and the dynamics of running are analyzed. Then, the stability criterion of humanoid running is presented. Finally, the effectiveness of the proposed stability criterion is illustrated by a dynamic simulation example using a dynamic analysis and design system (DADS). |
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| Keywords: | Humanoid robot running stability criterion |
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