| 基于ZMP的双足机器人稳定性分析 |
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| 引用本文： | 常江.基于ZMP的双足机器人稳定性分析[J].佳木斯工学院学报,2009(1):7-9. |
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| 作者姓名： | 常江 |
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| 作者单位： | [1]佳木斯大学机械工程学院,黑龙江佳木斯154007; [2]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 |
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| 摘 要： | 引入双足机器人研究中一个重要物理量——零力矩点ZMP（zero Moment Point），研究其计算和测量方法，利用其分析双足机器人在单腿和双腿支撑时的作用范围，最后在二维和三维平面内对机器人的ZMP计算进行探讨，为稳定步态的设计做了理论铺垫。
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| 关 键 词： | 双足机器人 零力矩点ZMP 稳定性 |
Analysis on Stability of Biped Robot Based on ZMP |
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| Authors: | CHANG Jiang |
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| Affiliation: | CHANG Jiang(1.College of Mechanical Engineering, Jiamusi University,Jiamusi 154007, China; 2. School of Mechanical and Engineering, Harbin Engineering University, Harbin 150001, China) |
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| Abstract: | A physics variable in research on biped robot-Zero Moment Point （ZMP） was introduced. Its account and measure methods were researched. Biped robot＇ s action area w＇as analyzed while it was sustained with single leg or double legs. In the end the account of biped robot＇ s ZMP in planar and three dimensional plane was discussed. |
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| Keywords: | biped robot Zero Moment Point stability |
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