仿人机器人足部结构与感知系统设计及ZMP计算

Design of Humanoid Robot Foot Structure with Sensing System and the ZMP Algorithm

针对仿人机器人行走中的平稳性要求,首先,设计了由弧形脚掌、被动趾关节、冲击吸收机构和传感器模块组成的足部结构;其次,推导了在足部结构支撑下的ZMP算法。实验表明,由足部结构及传感器布置能够实现ZMP的准确测量。

The walking stationarity of human- oid robot is the premise to perform tasks. Accord- ing to the requirement of walking stationarity, firstly the foot mechanical structure, which consists of the curvature of the foot, the passive toe joints, shock absorbing mechanism and the sensor mod- ule,is designed. Then the ZMP algorithm based on the propose foot. structure is deduced. At last, the united test under four conditions is carried out. The test shows.the accurate measurement of ZMP with this structure and the placement of sensors can be realized.