摘要
本文提出了一种新型两足步行机器人动态步行实时控制方法，引入了姿态稳定性和步态稳定性的概念，把两足动态步行控制分为姿态稳定性控制和步态稳定性控制两个相互联系的子系统，并从姿态稳定性分析出发，重点研究了各关节轨迹跟踪控制和系统整体动态平衡等问题，提出了姿态控制器的结构及设计方法．
This paper presents a new real time control method for biped dynamic walking. By introducing some new concepts of posture stability and gait stability, the control system of biped is separated into two interconnected sub systems of posture control and gait control. Based on the analysis of the posture stability, problems of the trajectory servo control of each joint and the dynamic pendulum of the whole mechanism are studied in detail. The structure and the design method of posture controller are given.
出处
《机器人》
EI
CSCD
北大核心
1997年第3期180-186,共7页
Robot
基金
国家科委863计划资助
关键词
两足步行机器人
姿态稳定性
姿态控制
机器人
Biped walking robot, real time control, posture stability, posture control
