类人机器人脚面扭滑建模与检测分析

The slide modeling and detecting analysis for humanoid robots

为克服采用零力矩点(ZMP)或脚面所受压力中心(COP)检测方法进行类人机器人稳定性控制时不能防止机器人脚面扭滑的问题,提出了一种基于 COP 检测的脚面扭滑检测方法,并对其进行了数学建模与分析。对类人机器人 MechG 进行的仿真实验验证了该方法的有效性。仿真结果显示,通过基于 COP 检测的脚面扭滑检测可以进一步得到不发生扭滑的 COP 子稳定区域,从而弥补了机器人 ZMP/COP 法控制的不完善性。

To solve the problem of foot sliding of humanoid robot when its walking stability is controlled with the zero moment point （ZMP） or center of pressure （COP） detecting approaches, a slide detecting approach based on COP detecting is put forward, and its mathematical model is built and analyzed. The simulation of the humanoid robot MechG based on the COP detecting approach shows that a stable sub-zone of COP without slide can be obtained, by which the stability of humanoid robots can be increased.