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轮式仿人机器人的ZMP建模及动态稳定判据 被引量：6

The ZMP Modeling and the Dynamic Stability Criterion of the Wheel-based Humanoid Robot
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摘要 介绍了ZMP的概念,比较常见的几种ZMP建模方法,提出将高效牛顿-欧拉算法(RENA)与ZMP的概念相结合的迭代ZMP建模方法,并利用该方法完成轮式仿人机器人的ZMP建模.通过模型分析,得出该轮式仿人机器人的ZMP简化计算公式.最后得出此类轮式仿人机器人的稳定性判据及稳定度的定义. The concept of ZMP is introduced. The common ZMP modeling methods are compared and the iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP is presented. The ZMP model of the wheel-based humanoid robot is built using the iterative ZMP computational method. The simplified ZMP computational equation of the wheel-based humanoid robot is given. The dynamic stability criterion and the stability degree of the humanoid robot are defined in the last part.
作者 李艳杰 钟华
机构地区 沈阳理工大学机械工程学院 中国科学院沈阳自动化研究所机器人国家重点实验室
出处 《沈阳理工大学学报》 CAS 2009年第1期79-84,共6页 Journal of Shenyang Ligong University
基金 国家十五"863"计划项目(2001AA422170)
关键词 零力矩点 仿人机器人 动态稳定性 zero moment point （ZMP） humanoid robot dynamic stability
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献9

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共引文献29

同被引文献26

  • 1李艳杰,吴镇炜,钟华,刘齐芳.一种基于反作用力的仿人机器人ZMP建模与测量[J].仪器仪表学报,2006,27(z2):1094-1096. 被引量：5
  • 2欧阳自远.月球探测的进展与中国的月球探测[J].地质科技情报,2004,23(4):1-5. 被引量：35
  • 3刘金国,王越超,李斌,马书根.变形机器人倾翻稳定性仿真分析[J].系统仿真学报,2006,18(2):409-415. 被引量：17
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引证文献6

二级引证文献8

沈阳理工大学学报
2009年 第1期

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