用Zero M om ent Point描述类人型机器人步行稳定的不完善性探讨

Exploration on Faultiness of Zero Moment Point (ZMP) Stable Region for Biped Locomotion

提出了用传统的 Zero Moment Point(ZMP)点描述类人型机器人运动稳定性仅仅是其运动稳定的必要条件 ,而从受力平衡的角度考虑 ,其运动稳定的充要条件必须满足踝关节扭矩的平衡 。

The ZMP (zero moment point) is not enough to depict the stability for biped robot as it is just an essential factor for the stability neglecting the balance of ankle torque. Concerning about the ankle torque, the expression of friction circle factor was deduced. It is concluded that the stable region meeting ZMP and friction circle is the sufficient and necessary condition for the stability of biped robot.