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基于全身协调的仿人机器人步行稳定控制 被引量：2

Stable walking control in whole body coordination framework for biped humanoid robot
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摘要 提出利用机器人质心(CoM)雅克比矩阵,实现全身协调补偿的算法。提出机器人的简化模型;分析基于CoM雅克比矩阵的补偿算法;采用CoM/ZMP(零点矩点)、减振和软着陆控制器实时控制双足步行,实现机器人全身协调的稳定控制;通过仿人机器人AFU09的双足步行实验证明该控制方法的有效性。 This paper introduces a framework for whole-body motion generation in the motion embedded CoM（Center of Mass） Jacobian framework.The walking pattern is generated using the simplified model for bipedal robot;this paper analyzes the kinematic resolution of CoM Jacobian;CoM/ZMP controller,damping controller,and soft landing controller are applied to real-time control biped walking;the effectiveness of the proposed kinematic resolution method and walking controller is shown through experiments of humanoid robot AFU09 biped walking.
作者 胡金东 刘国栋
机构地区 江南大学通信与控制工程学院
出处 《计算机工程与应用》 CSCD 北大核心 2011年第25期231-234,共4页 Computer Engineering and Applications
关键词 仿人机器人 全身协调 质心雅可比 稳定控制 humanoid robot whole body coordination CoM Jacobian stable control
分类号 TP242.6 [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12

  • 1Huang Q,Yokoi K, Kajita S,et al.Plarming walking patterns for a biped robot[J].IEEE Trans on Robotics and Automation,2001, 17(3):280-289.
  • 2Kajita S,Matsumoto O.Real-time 3D walking pattern generation for a biped robot with telescopic legs[C]//Proc of the 2001 IEEE Int Conf on Robotics & Automation,2001:2299-2306.
  • 3Choi Y,You B J,Oh S R.On the stability of indirect ZMP con- troller for biped robot systems[C]//Proc of IEEE/RSJ Int Conf on Intelligent Robots and Systems , 2004 :1966-1971.
  • 4Nagasaka K, Kurold Y, Suzuki S, et al.Integrated motion control for walking,jumping and running on a small bipedal entertain- ment robot[C]//Proc of IEEE Int Conf on Robotics and Automa- tion, 2004: 3189-3194.
  • 5Park J, Khatib O.A whole-body control framework for human- oids operating in human environments[C]//Proc of IEEE Interna- tional Conference on Robotics and Automation, Orlando, USA, 2006:1963-1969.
  • 6Sugihara T, Nakamura Y, Whole-body cooperative balancing of humanoid robot uisng COG Jacobian[C]//Proc of IEEE/RSJ Int Conf on Intelligent Robots and Systems,2002:2575-2580.
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  • 8Kajita S,Kanehiro F, Kaneko K, et al.A realtime pattern genera- tor for biped walking[C]//Proc of IEEE Int Conf on Robotics and Automation, 2002: 31-37.
  • 9Takanishi A, Lim H, Tsuda M, et al.Realizafion of dynamic bi- ped walking stabilized by trunk motion on a sagittally uneven surface[C]//Proc of IEEE/RSJ Int Conf on Intelligent Robots and Systems, 1990:323-330.
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计算机工程与应用
2011年 第25期

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