| 零力矩点与两足机器人动态行走稳定性的关系 |
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| 引用本文： | 刘志远,戴绍安.零力矩点与两足机器人动态行走稳定性的关系[J].哈尔滨工业大学学报,1994,26(1):38-41. |
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| 作者姓名： | 刘志远 戴绍安 |
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| 作者单位： | 哈尔滨工业大学控制工程系 |
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| 摘 要： | 讨论了零力矩点（ＺＭＰ）与两足机器人动态行走稳定性的关系，证明了ＺＭＰ出支撑面时若踝关节取高增益ＰＤ控制则支撑脚无法实现稳定支撑．本文最后给出了一种ＺＭＰ计算及控制方法．
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| 关 键 词： | 零力矩点 两足机器人 动态行走 |
The Relationship between ZMP and Stability on Dynamic Locomotion of Biped Robots |
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| Liu Zhiyuan,Dai Shaoan,Pei Run,Zhang Quan,Fu Peichen.The Relationship between ZMP and Stability on Dynamic Locomotion of Biped Robots[J].Journal of Harbin Institute of Technology,1994,26(1):38-41. |
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| Authors: | Liu Zhiyuan Dai Shaoan Pei Run Zhang Quan Fu Peichen |
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| Affiliation: | Dept. of Control Engneering |
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| Abstract: | This paper discussed the relationship between ZMP and stability on dynamic locomotion of biped robots and proved that the supporting foot can'tsupport stably when ZMP is out of the supporting plane and the ankle takeshigh amplification PD control. In the end, a way of ZMP calculation and control is given. |
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| Keywords: | ZMP biped robot dynamic locomotion |
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