| 两足步行椅机器人及其稳定性计算研究 |
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| 引用本文： | 张慧卿,赵群飞,马培荪,缑正,郑承毅. 两足步行椅机器人及其稳定性计算研究[J]. 传动技术(上海), 2006, 20(1): 11-14 |
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| 作者姓名： | 张慧卿 赵群飞 马培荪 缑正 郑承毅 |
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| 作者单位： | 上海交通大学机械与动力工程学院机器人研究所,上海,200030;上海交通大学电子信息与电气工程学院图像处理与模式识别研究所,上海,200030 |
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| 基金项目： | 科技部国际科技合作项目 , 上海市科委资助项目 |
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| 摘 要： | 两足步行椅机器人是一种为残疾人设计,用来替代轮椅和假肢的助残机器人.本文介绍了两足步行椅机器人的整体机构设计,并以前向运动为例,详细讨论了利用ZMP理论进行步行稳定性计算的方法,最后通过计算机仿真验证了这一计算方法的有效性.
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| 关 键 词： | 两足步行椅机器人 机械结构 步态规划 稳定性计算 ZMP |
| 文章编号： | 1006-8244（2006）01-11-04 |
Research of Biped Walking-Chair Robot and Walking Stability Computation |
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| Zhang Hui-qing,Zhao Qun-fei,Ma Pei-sun,Gou Zheng,Zheng Cheng-yi. Research of Biped Walking-Chair Robot and Walking Stability Computation[J]. Drive System Technique, 2006, 20(1): 11-14 |
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| Authors: | Zhang Hui-qing Zhao Qun-fei Ma Pei-sun Gou Zheng Zheng Cheng-yi |
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| Affiliation: | 1. Shanghai Jiaotong University Research Institute of Robotics, Shanghai 200030, China; 2. Institute of Image Processing and Pattern Recognition, Shanghai Jiaotong University, Shanghai 200030, China |
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| Abstract: | Biped waliing-chair robot is a life assistive robot developed for the disable people to replace traditional wheelchairs and artificial limbs. In this paper, the mechanism design of a biped walking-chair robot is presented; a ZMP theory based computation method for the walking stability of the robot in gait planning is discussed focused on forward motion. Finally, the validity of the method is tested by numerical simulation. |
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| Keywords: | biped walking-chair robot mechanical construction gait planning stability computation ZMP |
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