一种基于反作用力的仿人机器人ZMP建模与测量

Modeling and measurement of ZMP of a humanoid robot based on reaction

“零力矩点”是判定仿人机器人动态稳定运动的重要指标。本文根据零力矩点的概念,利用机器人车体的几何及动力学关系,建立基于反作用力的正交轮式移动仿人机器人的零力矩点模型;提出了基于电流传感器、电机编码器等传感器的零力矩点的实时测量方法,并给出了该方法的结构框图。由于轮式移动仿人机器人与地面呈点式接触,难于安装力传感器,所以这种方法尤其适用于轮式移动仿人机器人。

Zero Moment Point (ZMP) is a crucial index for evaluating the dynamic stability of a humanoid robot. According to the concept of the ZMP and geometry and dynamics of the robot, this paper builds a ZMP model based on reaction of a mobile robot with orthogonal wheel assemblies. This paper also presents a kind of real-time measure method of ZMP using sensors such as current sensors, encoders. It draws the structure graph of this method. This method suits specially for the wheel-based humanoid robot, while it is difficult to install the force sensors on the wheels due to its point-contact with the ground.