期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

仿人机器人稳定行走控制研究 被引量：1

Research on the Control of Stable Gaits in Humanoid Robots
下载PDF
导出
摘要 提出了基于在线控制理论的仿人机器人稳定性控制方法,分析了扩大支撑多边形的稳定控制方法和机器人落地减振控制等策略;推导出了仿人机器人上楼梯过程中发生失稳时机器人移动方向的角度改变量和落地点的移动距离.这些控制方法使机器人在行走的整个过程中,特别是在地面不平整以及摆动腿落地瞬间冲击力较大时也能保持良好的稳定性. Several stability control methods were proposed based on online control. Control strategies as landing shock absorber and enlarging the support polygon were analyzed. The change of angle and landing position were deduced when the robot lost stability. These control methods could maintain stability during the whole working process, especially when the ground is uneven and the swing leg is landing.
作者 肖乐 丁丽霞 苏亚佩 唐月娇
机构地区 常熟理工学院计算机科学与工程学院
出处 《常熟理工学院学报》 2010年第2期72-75,共4页 Journal of Changshu Institute of Technology
基金 常熟理工学院第四批大学生科技校级重点立项项目
关键词 仿人机器人 零力矩点 虚拟零力矩点 稳定性控制 humanoid robot ZMP FZMP stability control
分类号 TP24 [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6

  • 1Li Z H, Huang Q, Li K J, et al. Stability Criterion and Pattern Planning for Humanoid Running[C]. Proceedings of the 2004 IEEE International Conference on Robotics and Automation. 2004: 1059-1064.
  • 2Plestan F, Grizzle W, Wesrerveh R, et al. Stable Walking of a 7-DOF Biped RobotiC]. IEEE Transactions on Robotics and Automation, 2004-19(4) : 653-668.
  • 3Vukobratovic M, Stepanenko J. On the Stability of Anthropomorphic Systems[J]. Mathematical Biosciences, 1972, 15: 1-37.
  • 4Yin Chenbo, Albert Albers, et al. Stability Maintenance of a Humanoid Robot under Disturbance with Fictitious Zero-Moment Point [C]. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton Alberta, Canada: 2005-08:1780-1787.
  • 5Yin C B, Zhou Q M, Xiao L. Walking Stability of a Humanoid Robot Based on Fictitious-Zero-Moment Point [A]. Proceedings of the 2006 IEEE International Conference on Control, Automation, Robotics and Vision[C]. Grand Hyatt Singapore, 2006.
  • 6Kim J Y, Park I W, Oh J H. Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor [J]. Journal of Intelligent and Robotic Systems, 2007, 48(4): 457-484.

同被引文献10

  • 1帅梅,付成龙,杨向东,陈恳.不平整地面仿人机器人行走控制策略[J].机械工程学报,2006,42(8):1-6. 被引量：7
  • 2HIRA1 K, HIROSE M, HACKSAW Y, et al. Development of Hon- da humanoid robot[ C]//IEEE International Conference on Robotics and Automation. Leuven, Belgium: IEEE, 1988:1321-1326.
  • 3KANEKO K, KANEHIRO F, KAJITA S, et al. Design of prototype humanoid robotics platform for HRP [ C]//IEEE/RJS International Conference on Intelligent Robots and Systems. Lausanne, Switzer- land: IEEE, 2002:2431 -2436.
  • 4YAMAGUCH1 I, INOUSE S, NISHINO D, et al. Development of a biped.,d humanoid robot having antagonistic driven joints and three DOF trunk[ C]// IEEE International Colfference on Robotics and Automation. Victoria, BC, Canada: IEEE, 1988: 96 -101.
  • 5KIN J Y, PARK I W, LEE I, et al. system design and dynamic walking of humanoid robot KHR-2[ C]//IEEE International Confer- ence on Robotics and Automatiom Barcelona, Spain: IEEE, 2005: 1443 - 1448.
  • 6GIENGER M, LFFLER K, PFEIFFER K. Towards the design of a biped jogging robot [C ]// IEEE International Conference on Robotics and Automation. Seoul, Korea: IEEE, 2011: 4140- 4145.
  • 7HASHIMOTO K, SUGAHARA Y, SUNAZUKA H, et al. Biped landing pattern modification method with nonlinear compliance control[ C]// IEEE International Conference on Robotics and Automation. Piscataway: IEEE Press, 2006:1213-1218.
  • 8赵建东,王自上,付成龙,陈恳.仿人机器人摆动脚落地碰撞补偿控制研究[J].北京交通大学学报,2009,33(1):45-49. 被引量：5
  • 9殷跃红,尉忠信,朱剑英.机器人柔顺控制研究[J].机器人,1998,20(3):232-240. 被引量：37
  • 10李建,陈卫东,王丽军,高雪官,杨军,李慕君.未知不平整地面上的双足步行稳定控制[J].电子学报,2010,38(11):2669-2674. 被引量：9

引证文献1

二级引证文献1

常熟理工学院学报
2010年 第2期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部