基于ZMP和实时检测的机器人步行研究

Study on Gait Based on ZMP and Real-time Adjusting for Humanoid Biped Robot

介绍了仿人二足步行机器人步态规划的分类,采用了其中基于运动学和动力学方法的步行和基于人类行走数据的步行相结合的方法,以ZMP判据为依据,提出了仿人机器人的动态步行的一种规划方法,同时还在步行过程中,通过处理力/力矩传感器获得的数据,计算出实际ZMP,然后进行ZMP的实时调整以保证步行的速度和稳定性。

The thesis introduces sorts of gait generation of humanoid robot, and then using the method based on data of human walk, restricted by the ZMP theory, puts forward a new method of gait generation in humanoid robot＇ s dynamics walking. To make sure the robot walking in a propriety speed and a steady pace, the thesis adds actual ZMP detecting by dealing with the data got from universal force-moment sensors and then adds real time adjusting.