拟人机器人抗干扰行走稳定性分析

通过引入虚拟零力矩点假设,提出了一个多种外界干扰下拟人机器人的整体分析模型,分析了拟人机器人抗干扰行走的稳定性.给出了支撑多边形的计算机表达方法和失稳时旋转边界的确定方法.为了在不同的情况下保持平衡,提出了改变支撑多边形、手的支撑、改变上体重心等3种新的稳定性恢复方法.通过优化从虚拟零力矩点到旋转边界的距离,提出了恢复平衡的优化算法.通过仿真实例验证了所提出方法的正确可行性.

Stability Maintenance of a Humanoid Robot under Extern Disturbance

By introducing a concept of fictitious zero-moment point, a model of stability analysis of a humanoid robot is given, in which different environments such as extern disturbance are considered. A method to maintain the whole body stability of robot under disturbance is presented. The support polygon and the rotation edge in the case of losing balance are determined by simulation. In order to maintain stability in different environments, a new control strategy is presented including the adjustment of the support polygon, the push or pull support of hand with environment, and the additional movement of upper robot body. An optimization algorithm of stability maintenance is proposed by optimization of the distance between the fictitious zero-moment point the rotation edge. The feasibility of the proposed method is demonstrated through simulation.