| 轮式仿人机器人的ZMP建模及动态稳定判据 |
| |
| 引用本文： | 李艳杰,钟华.轮式仿人机器人的ZMP建模及动态稳定判据[J].沈阳理工大学学报,2009,28(1). |
| |
| 作者姓名： | 李艳杰 钟华 |
| |
| 作者单位： | 1. 沈阳理工大学,机械工程学院,辽宁,沈阳,110168
2. 中国科学院,沈阳自动化研究所机器人国家重点实验室 |
| |
| 基金项目： | 国家高技术研究发展计划(863计划) |
| |
| 摘 要： | 介绍了ZMP的概念,比较常见的几种ZMP建模方法,提出将高效牛顿-欧拉算法(RENA)与ZMP的概念相结合的迭代ZMP建模方法,并利用该方法完成轮式仿人机器人的ZMP建模.通过模型分析,得出该轮式仿人机器人的ZMP简化计算公式.最后得出此类轮式仿人机器人的稳定性判据及稳定度的定义.
|
| 关 键 词： | 零力矩点 仿人机器人 动态稳定性 |
The ZMP Modeling and the Dynamic Stability Criterion of the Wheel-based Humanoid Robot |
| |
| LI Yan-jie,ZHONG Hua.The ZMP Modeling and the Dynamic Stability Criterion of the Wheel-based Humanoid Robot[J].Transactions of Shenyang Ligong University,2009,28(1). |
| |
| Authors: | LI Yan-jie ZHONG Hua |
| |
| Affiliation: | 1.Shenyang Ligong University;Shenyang 110168;China;2.State Key Laboratory of Robotics;Shenyang Institute of Automation;Chinese Academy of Science |
| |
| Abstract: | The concept of ZMP is introduced.The common ZMP modeling methods are compared and the iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP is presented.The ZMP model of the wheel-based humanoid robot is built using the iterative ZMP computational method.The simplified ZMP computational equation of the wheel-based humanoid robot is given.The dynamic stability criterion and the stability degree of the humanoid robot are defined in the last part. |
| |
| Keywords: | |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
