基于六维力／力矩传感器的拟人机器人实际ZMP检测

ZMP（Zero Moment Point)作为双足双行机器人动态稳定行走的判据，已应用于世界上银多著名的步行机器人系统。目前国外步行机器人大多采用力／力矩传感器进行ZMP的实际检测计算，但采用六维力／力矩传感器的却不多，而且其安装位置也各不同，国内机器人还都还都处于离线步态规划阶段，只进行理论了ZMP的计算，并没有进行实时检测。本文根据清华大学985重点项目“拟人机器人技术及其系统研究”的研究要求，确定基于六维力／力矩传感系统的实际ZMP检测方案，确这了传感器安装的最佳位置，推导了单脚支撑期，双脚支撑期的实际ZMP计算公式提出了基于ZMP理论的姿态调整方法，以期在实际应用中进行在线步态规划。

ACTUAL ZMP MEASUREMENT SYSTEM FOR FORCE-MOMENSENSORS BASED HUMANOID ROBOT

As a walking stability criterion of biped robot, ZMP(Zero Moment Point) was implied in many famous biped robot system, such as P2,P3,ASIMO of HONDA Co. in Japan. Now, most biped walking robots have actual ZMP measurement systems. Only a few of them uses Universal Force-Moment Sensors, because of weight and cost. Moreover, in those sensors were not installed in best position. In this paper, in order to satisfy the profect of humanoid robot in Tsinghua University, China, a method using Universal Force-Moment Sensors to measure actual ZMP is presented. The best position to install sensors is put forward. The formulas for computing actual ZMP in single support phase and double support phase are described. In addition, three posture adjustment control methods are explained. They will be applied to on-line gait generation.