| 仿人机器人的可变ZMP步态规划 |
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| 引用本文： | 张颖超,葛壮,胡凯.仿人机器人的可变ZMP步态规划[J].南京信息工程大学学报,2011,3(5):471-474. |
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| 作者姓名： | 张颖超 葛壮 胡凯 |
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| 作者单位： | 南京信息工程大学信息与控制学院,南京,210044 |
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| 基金项目： | 江苏省产学研联合创新资金，南京信息工程大学科研基金 |
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| 摘 要： | 为使仿人机器人能够稳定地行走,基于三维倒立摆模型,采用了可变ZMP(Zero-Moment Point)来进行仿人机器人的步态规划.在单脚支撑期依据可变ZMP采规划COG(Center of Gravity)的轨迹,在双脚支撑期内则让ZMP保持低速匀速运动,由此来规划此时间段的COG轨迹.仿真结果验证了规划的合理性,保...
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| 关 键 词： | 仿人机器人 可变ZMP 三维倒立摆 |
| 收稿时间： | 2011/3/11 0:00:00 |
A new walking pattern synthesis with variable ZMP of humanoid robot |
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| ZHANG Yingchao,GE Zhuang and HU Kai.A new walking pattern synthesis with variable ZMP of humanoid robot[J].Journal of Nanjing University of Information Science & Technology,2011,3(5):471-474. |
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| Authors: | ZHANG Yingchao GE Zhuang and HU Kai |
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| Affiliation: | School of Information and Cybernetics, Nanjing University of Information Science & Technology, Nanjing 210044;School of Information and Cybernetics, Nanjing University of Information Science & Technology, Nanjing 210044;School of Information and Cybernetics, Nanjing University of Information Science & Technology, Nanjing 210044 |
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| Abstract: | Based on the 3D Inverted Pendulum model,a new walking pattern synthesis was proposed,which can make a humanoid robot walk smoothly by variable ZMP(Zero-Moment Point).By the new way,in the single leg support phase,the COG(Center of Gravity) trajectory equation of the humanoid robot can be educed through the variable ZMP;while in the double leg support phase,the COG trajectory can be educed by the ZMP moving at a lower constant velocity.Simulation results verifies the proposed method,which can guarantee a relatively high stability.And the humanoid robot in this walking pattern can walk more smoothly,and in a more similar way to human walking. |
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| Keywords: | humanoid robot variable ZMP 3D Inverted Pendulum |
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