| 二足机器人的姿态稳定性研究 |
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| 引用本文： | 孙学俭,薛龙,周灿丰. 二足机器人的姿态稳定性研究[J]. 北京石油化工学院学报, 2007, 15(1): 28-31 |
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| 作者姓名： | 孙学俭 薛龙 周灿丰 |
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| 作者单位： | 北京石油化工学院,北京,102617;北京石油化工学院,北京,102617;北京石油化工学院,北京,102617 |
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| 摘 要： | 姿态的稳定性是二足机器人在行走过程中要解决的重要问题。对在不同形态下机器人单足着地的稳定及失衡问题进行了研究。对于脚部旋转指示点F（FRI），地面反作用力点P（COP）和质量中心投影点C（GCOM）进行了分析，可以得到二足机器人单足着地的稳定性条件。
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| 关 键 词： | 二足机器人姿态稳定性 脚部旋转指示点 地面反作用力点 质量中心投影点 脚底支撑多边形 |
| 收稿时间： | 2006-03-18 |
| 修稿时间： | 2006-03-18 |
Research of Postural Stability of Biped Robots |
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| Sun Xuejian,Xue Long,Zhou Canfeng. Research of Postural Stability of Biped Robots[J]. Journal of Beijing Institute of Petro-Chemical Technology, 2007, 15(1): 28-31 |
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| Authors: | Sun Xuejian Xue Long Zhou Canfeng |
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| Abstract: | Postural stability of biped robots during walking is a very important problem.This paper studies the postural stability and unbalance issues of biped robots with one supporting foot on ground.We analyze the relationship between Foot Rotation Indicator(FRI) point and an opposed the center of pressure(COP),and the relationship between Ground projection point of Center of Mass(GCOM) and an opposed the center of pressure(COP).The control of biped robots is preliminarily discussed. |
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| Keywords: | postural stability of biped robots, foot rotation indicator point an opposed the center point of pressure ground projection point of center of mass convex hull of foot-support area |
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