| 仿人跑步机器人稳定性与控制策略研究进展 |
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| 引用本文： | 彭胜军,税海涛,马宏绪. 仿人跑步机器人稳定性与控制策略研究进展[J]. 控制工程, 2011, 18(1): 142-146 |
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| 作者姓名： | 彭胜军 税海涛 马宏绪 |
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| 作者单位： | 国防科技大学机电工程与自动化学院,湖南,长沙,410073 |
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| 基金项目： | 国家863计划基金资助项目(2007AA041603); 国防科技大学优秀研究生创新基金资助项目(B070302) |
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| 摘 要： | 针对仿人跑步机器人稳定性和控制策略的研究现状与发展趋势进行了探讨.首先.分析了仿人跑步模型的固有特性,包括单边约束特性、系统混杂特性和变拓扑结构特性,介绍了基于ZMP(Zero Moment Point)和零化角动量的稳定性判据以及基于庞加莱映射和极限环的稳定性判据,总结了基于轨迹规划的时变控制策略和基于虚拟约束的定常...
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| 关 键 词： | 仿人跑步机器人 稳定性 控制策略 |
A Survey of Stability and Control Strategy for Humanoid Running Robots |
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| PENG Sheng-jun,SHUI Hai-tao,MA Hong-xu. A Survey of Stability and Control Strategy for Humanoid Running Robots[J]. Control Engineering of China, 2011, 18(1): 142-146 |
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| Authors: | PENG Sheng-jun SHUI Hai-tao MA Hong-xu |
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| Affiliation: | PENG Sheng-jun,SHUI Hai-tao,MA Hong-xu(College of Electromechanical Engineering &Automation,National University of Defense Technology,Changsha 410073,China) |
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| Abstract: | Research status and current development of the stability criterion and control strategy for humanoid running robots are discussed.The inherent properties of humanoid running robots are analyzed,including unilateral constrain,hybrid system and changing topology.The two stability criterions based on ZMP(zero moment point)and zeroing angle momentum,as well as based on poincare map and limit cycle are introduced.The time-variant control strategy based on trajectory planning and the time-invariant control strate... |
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| Keywords: | humanoid running robots stability control strategy |
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