| 基于过程ZMP的双足步行机器椅步态规划 |
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| 引用本文： | 石斌,王安麟,赵群飞.基于过程ZMP的双足步行机器椅步态规划[J].机械设计,2007,24(10):11-14. |
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| 作者姓名： | 石斌 王安麟 赵群飞 |
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| 作者单位： | 上海交通大学,机械与动力工程学院,上海,200240;同济大学,机械工程学院,上海,200092;上海交通大学,电子信息与电气工程学院,上海,200030 |
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| 基金项目： | 国际科技合作项目
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上海市科委资助项目 |
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| 摘 要： | 解决了多关节双足步行机器椅行走步态过程稳定性评价与其开环多连杆执行机构的多变量泛函问题.从构造多关节双足步行机器椅行走姿态和过程ZMP(Zero Moment Point,零力矩点)评价考虑,提出了基于优化方法的多关节双足步行机器椅行走步态的离散化模型和方法,实现了基于过程稳定性评价的双足步行机器椅的开环多连杆执行机构行走步态的合理规划.文中提出的离散化模型对求解开环连杆机构的多变量泛函规划问题具有重要的参考价值.
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| 关 键 词： | 步态规划 优化 零力矩点(ZMP) 步行仿真 |
| 文章编号： | 1001-2354（2007）10-0011-04 |
| 修稿时间： | 2006-11-17 |
Gait planning on biped walking machinery chair based on process ZMP |
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| SHI Bin,WANG An-lin,ZHAO Qun-fei.Gait planning on biped walking machinery chair based on process ZMP[J].Journal of Machine Design,2007,24(10):11-14. |
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| Authors: | SHI Bin WANG An-lin ZHAO Qun-fei |
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| Affiliation: | 1. School of Mechanical and Dynamics Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 2. School of Mechanical Engineering, Tongji University, Shanghai 200092, China; 3. School of Electronics Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200030, China |
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| Abstract: | This paper solved the problems of stability evaluation on walking gait process of multi-joint biped walking machinery chair and its multivariable functional of the open looped multi-connecting rod execution mechanism.By considering the constitution on the walking gait of multi-joint biped walking machinery chair and the evaluation on Zero-Moment-Point(ZMP) of the process,the discretization model and method for walking gait of multi-joint biped walking machinery chair based on optimization method were put forward.Thus rational planning on the walking gait of the open looped multi-connecting rod executing mechanism was achieved based on the stability evaluation of process.The discretization model brought forward in this paper possesses significant referential value for solving the problems of multivariable functional planning of the open looped connecting rod mechanism. |
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| Keywords: | gait planning optimization zero moment point(ZMP) walking simulation |
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