| 两足辅助行走机器人步态控制 |
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| 引用本文： | 唐矫燕.两足辅助行走机器人步态控制[J].上海电机学院学报,2014(1):15-20. |
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| 作者姓名： | 唐矫燕 |
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| 作者单位： | 上海电机学院机械学院,上海200245 |
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| 基金项目： | 上海电机学院科研启动经费项目资助（11C420） |
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| 摘 要： | 智能两足辅助行走机器人,可以辅助残疾人在复杂环境中进行仿人行走.介绍了该机器人的机构和控制系统硬件,在机器人系统的步态特性基础上建立了人机一体的运动模型.运用零力矩点（ZMP）理论规划了机器人的行走步态,提出了局部步态调整与人体主动补偿运动相结合的实时步态稳定性控制策略.通过仿真实验对该控制策略进行了验证和分析.
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| 关 键 词： | 两足机器人 辅助行走 步态规划 稳定性控制 |
Gait Control for a Bipedal Walking Auxiliary Robot |
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| TANG Jiaoyan.Gait Control for a Bipedal Walking Auxiliary Robot[J].JOurnal of Shanghai Dianji University,2014(1):15-20. |
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| Authors: | TANG Jiaoyan |
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| Affiliation: | TANG Jiaoyan(School of Mechanical Engineering, Shanghai Dianji University, Shanghai 200245, China) |
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| Abstract: | An intelligent bipedal walking auxiliary robot can assist the disabled for humanoid walking in complex environments. The mechanism and control system hardware of the robot are introduced. A motion model of the man-machine integration system is established based on a gait characteristics analysis. The zero moment point（ZMP） theory is used for the planning of the robot gait. A real-time gait stability control strategy combined with local gait adjustment and human active compensation is proposed. The strategy is verified and analyzed in simulation experiments. |
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| Keywords: | bipedal walking robot auxiliary robot gait planning stability control |
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