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仿人机器人上下楼梯稳定行走控制策略 被引量：6

Control strategy of walking stability of humanoid robot up and down stairs
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摘要 提出了仿人机器人上下楼梯稳定行走控制策略。首先引入了虚拟零力矩点的概念,然后推导了上下楼梯稳定区域和稳定裕量的计算方法,如果ZMP点在稳定区域内,则采用基于ZMP在线调整控制方案,提高稳定性。如果FZMP点在稳定区域外,则采用基于FZMP调节控制策略,及时修正行走轨迹,使仿人机器人获得新的稳定区域,恢复稳定。仿真结果表明了该控制策略的正确可行。 The control strategy ofwalking stability ofhumanoid robot is proposed. By introducing a concept of FictitiousZero-Moment Point, the area of stable region and stability margin in single-support phase and double-support phase are deduced. If the ZMP is in the support area, the joint angles are adjusted by ZMP control strategy. Otherwise, the desired trajectories are modified by FZMP control strategy. The effectiveness of the proposed methods is confirmed by simulation.
作者 肖乐 殷晨波 郑冬华
机构地区 常熟理工学院计算机科学与工程学院 南京工业大学机械与动力工程学院
出处 《计算机工程与设计》 CSCD 北大核心 2009年第10期2453-2456,共4页 Computer Engineering and Design
关键词 仿人机器人 零力矩点 虚拟零力矩点 稳定裕量 控制策略 humanoid robot ZMP FZMP stability margin control strategy
分类号 TP242.6 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献7

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二级参考文献15

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共引文献10

同被引文献34

  • 1董玮,王如彬,沈恩华,张志康.节律性步态运动中CPG对肌肉的控制模式的仿真研究[J].动力学与控制学报,2008,6(4):327-331. 被引量：9
  • 2方亚彬,陈秉聪,江村超,荒川章.仿人步行二足机器人的研制[J].机器人,1994,16(1):30-36. 被引量：4
  • 3刘涛,王志良,解仑,刘鸿飞,赵积春.基于遗传算法的双足步行机器人步行姿态控制策略[J].微计算机信息,2006,22(07Z):252-254. 被引量：8
  • 4马宏绪,张彭,张良起.两足步行机器人动态步行姿态稳定性及姿态控制[J].机器人,1997,19(3):180-186. 被引量：12
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  • 10Yin Chenbo,Albert Albers,et al.Stability Maintenance of a Humanoid Robot under Disturbance with Fictitious Zero-Moment Point[C].IEEE/RSJ International Conference on Intelligent Robots and Systems.Edmonton Alberta (Canada):2005:1780-1787.

引证文献6

二级引证文献17

计算机工程与设计
2009年 第10期

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