基于压应力中心的仿人机器人离散轨迹运动控制

Discrete Trajectory Controlling of Humanoid Robot Based on Center of Pressure

针对仿人机器人运动姿态和行为的离散轨迹规划中所存在的机器人稳定性问题,提出了基于压应力中心反馈的控制方法.该方法以17自由度的仿人机器人MechG作为样机,根据动态平衡状态下机器人的压应力中心(Center of Pressure,COP)和零力矩点(Zero Moment Point,ZMP)重合的特性,通过检测COP反馈信息实时调整仿人机器人的各关节运动速度,以此规避机器人的不稳定轨迹点.通过机器人MechG的实验,验证了所提出的控制方法是可行的.

This paper analyzed about the stabilization of humanoid robot in discrete trajectory planning. Taking 17 freedom humanoid robot as a model, and according to the particularity of COP（center of pressure）overlapping with ZMP（zero moment point）in the dynamical balance state, the running speed of robot joints can be adjusted according to the feedback of COP, and the robot can evade the unstable trajectory with this approach. The control method was analyzed and the experiment on MechG was done which demonstrates it is feasible.