双足机器人稳定性与控制策略研究进展

Research progress on stability and control strategy for biped robots

对双足步行机器人的稳定性与控制策略的最新研究进行了综述。分析了双足步行模型的单边约束、混杂，及变拓扑的固有特性，介绍了基于ZMP的姿态稳定判据和基于庞加莱映射（Poincar6Map）的步态稳定判据。根据质心和ZMP与支撑凸多边形的关系，提出了双足运动的动态程度分类。总结了基于轨迹规划的时变控制策略与基于虚拟约束的定常控制策略，分析了各自的优缺点。最后探讨了这一研究领域的发展方向。

This paper surveys the latest progress of researches on stability and control strategy for biped robots. The inherent properties of biped systems which are subject to unilateral constraints, hybrid, and topology-variant arc analyzed. Posture stability criterion based on ZMP （Zero Moement Point） and gait stability criterion based on Poincar6 map are introduced. The classification of biped locomotion, based on dynamic level, is proposed. The time-variant control strategy based on trajectory planning and the time-invariant control strategy based on virtual constraints are both reviewed. Some suggestions about the future research are also presented.