| 三维线性倒立摆模型在双足机器人系统中的应用 |
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| 引用本文： | 陈华,刘国栋. 三维线性倒立摆模型在双足机器人系统中的应用[J]. 计算机系统应用, 2012, 21(8): 178-182 |
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| 作者姓名： | 陈华 刘国栋 |
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| 作者单位： | 江南大学物联网工程学院,无锡214122 |
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| 摘 要： | 机器人稳定的步行行走模式在双足机器人的控制中占有很重要的地位,提出了一种基于三维线性倒立摆的机器人行走模型。通过机器人的三维倒立摆模型得到机器人质心的位置和速度,再结合机器人的逆运动学,求得机器人各关节的关节角度,驱动机器人关节运动。从而得到机器人完整的运动轨迹。
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| 关 键 词： | 双足机器人 三维线性倒立摆 逆运动学 |
| 收稿时间： | 2011-11-21 |
| 修稿时间： | 2012-01-03 |
Three-Dimensional Linear Inverted Pendulum Model in the Biped Robot System |
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| CHEN Hua and LIU Guo-Dong. Three-Dimensional Linear Inverted Pendulum Model in the Biped Robot System[J]. Computer Systems& Applications, 2012, 21(8): 178-182 |
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| Authors: | CHEN Hua and LIU Guo-Dong |
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| Affiliation: | (Intemet of Things Engineering Institute,Southem Yangtze University, Wuxi 214122,China) |
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| Abstract: | The stable walking pattern plays an important role in the control of biped robot.This research proposes a three-dimensional linear inverted pendulum model of walking robot. Through the three-dimensional inverted pendulum, the location of center of mass and speed of the robot can be calculated, combined with the robot＇s inverse kinematics, the angle of each joint of robot can be obtained. Then, these angles can be used to drive the movement of each joint of robot. At last, the complete trajectory of robot can be obtained. |
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| Keywords: | biped robot three-dimensional linear inverted pendulum inverse kinematics |
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