摘要
讨论了零力矩点(ZMP)与两足机器人动态行走稳定性的关系,证明了ZMP出支撑面时若踝关节取高增益PD控制则支撑脚无法实现稳定支撑.本文最后给出了一种ZMP计算及控制方法.
This paper discussed the relationship between ZMP and stability on dynamic locomotion of biped robots and proved that the supporting foot can'tsupport stably when ZMP is out of the supporting plane and the ankle takeshigh amplification PD control. In the end, a way of ZMP calculation and control is given.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
1994年第1期38-41,共4页
Journal of Harbin Institute of Technology