| 基于地面反力的双足机器人期望步态轨迹规划 |
| |
| 引用本文： | 张永学,麻亮,强文义,付佩琛. 基于地面反力的双足机器人期望步态轨迹规划[J]. 哈尔滨工业大学学报, 2001, 33(1): 4-7 |
| |
| 作者姓名： | 张永学 麻亮 强文义 付佩琛 |
| |
| 作者单位： | 哈尔滨工业大学控制科学与工程系, |
| |
| 基金项目： | 国家自然科学基金资助项目! (69475 0 18) |
| |
| 摘 要： | 提出了一种基于地面反力的双足机器人期望步态轨迹规划方法。通过D Alembert定理推导出地面反力与机器人关节运动之间的数学关系。结合ZMP（零力矩点）稳定性原则和其他物理性约束条件，给出了双足机器人期望步态轨迹。受人类行走的启发，采用模糊策略来规划期望ZMP轨迹。该方案与传统的双足机器人步态轨迹生成方法比较，可实现稳定的行走，具有上体的运动范围小，适用于单、双脚支撑期等优点。双足机器人的实验说明了该方案的可行性和良好性能。
|
| 关 键 词： | 双足机器人 期望步态 ZMP 地面反力 轨迹规划方法 |
| 文章编号： | 0367-6234(2001)01-0004-04 |
| 修稿时间： | 2000-01-18 |
Desired gait synthesis in biped robot based on reactive force |
| |
| ZHANG Yong-Xue,MA Liang,QIANG Wen-yi,FU Pei-chen. Desired gait synthesis in biped robot based on reactive force[J]. Journal of Harbin Institute of Technology, 2001, 33(1): 4-7 |
| |
| Authors: | ZHANG Yong-Xue MA Liang QIANG Wen-yi FU Pei-chen |
| |
| Abstract: | Presents the new method of desired gait generation in biped robot based on the reactive force between the foot and environment with the mathematical relationship between the reactive force and the joint motion derived by following the D'Alembert principle, the desired gait of biped robot based on ZMP stability criterion and other physical constraints, and the desired trajectory of ZMP determined by fuzzy logic from human locomotion which reduces the motion range of the trunk and can be applied to the single foot supporting and double feet supporting phase by changing the constraints only, and proves the feasibility and good performance of the method with experimental results. |
| |
| Keywords: | biped robot desired gait ZMP |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
