摘要
双足仿人机器人是机器人领域中的前沿科学,实现双足机器人稳定行走一直是该方面研究的重点和难点。文章采用一种基于三维线性倒立摆模型、具有反馈的双足机器人步态系统,保证双足稳定行走。首先利用三维线性倒立摆生成三维步行模式,然后通过刚体动力学模型计算ZMP,评估双足运动时稳定性和质心位置误差,再使用步态稳定控制器保证步行运动稳定跟踪所规划的模式,抑制和减小误差积累,最后建立精准的双足机器人步态模型。
The biped humanoid robot is a forefront technology in the field of robotics,and to achieve walking stability has been the principal and the most difficult part in this field.In this paper,a model with a feedback system which is based on inverted pendulum is used to enable robots walk stably under different conditions.First,a 3D walking pattern based on inverted pendulum is created.Then a method of estimating the robot＇s walking stability and the centroid error is evaluated by calculating ZMP using rigid-body dynamics model.Finally,we control the walking patterns according to the feedback system of the PD controller and then provide a relatively accurate model of walking patterns.
出处
《电子技术（上海）》
2013年第3期8-10,共3页
Electronic Technology
基金
北京市大学生科技创新计划项目(2012)
