两足机器人步行运动参数对单足支撑期ZMP点影响的研究

Effect of Motion Parameters on the ZMP of Biped Walking Robot in the Single-leg Support Phase

在两足步行机器人的研究中 ,一般将零力矩点 (ZMP点 )的位置与支撑范围的关系作为判别其步行稳定性的依据。提出一种通用的方法 ,来分析两足机器人的步行运动参数对ZMP点位置的影响 ,并通过对机器人单足支撑期运动的计算机仿真 ,试图得到步行运动参数的变化对稳定性影响的规律 ,以期对机器人动态步行的稳定性设计提供实用的参考。

In the research on biped walking robots, the authors usually judge the walking stability from the relation ship between the position of the ZMP and the support area. The paper provides a general method to analyze the effect of robot walking motion parameters on the position of ZMP, and also attempts to find a variational trend of the scope of the ZMP when walking motion parameters are changed by means of computer simulation. Our objective is to provide a useful reference to the stability design of robot dynamic walking. Finally, some experimental results are discussed.