摘要
步态稳定是拟人机器人行走研究中的重要课题。介绍了零力矩点与稳定行走的关系,并假设机器人脚底装有力传感器。采用BP神经网络建立拟人机器人步态稳定的模型,仿真结果表明该方法简单易行,能够提高机器人步态稳定的实时性。
Gait stability is an important issue in robot walking. Supposing that the force sensors are installed in the underside of the foot, it describes the relationship between Zero- Moment Point （ZMP） and support polygon. The BP neural network is used to establish the gait stability of robotics. Simulations show that the proposed method is feasible easily, and it can improve the real - time of gait stability.
