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基于ZMP的双足机器人稳定性分析
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, 0(1): 7-9
作者姓名:常江
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
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。

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
CHANG Jiang. Analysis on Stability of Biped Robot Based on ZMP[J]. , 2009, 0(1): 7-9
Authors:CHANG Jiang
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)
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.
Keywords:biped robot  Zero Moment Point  stability
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