摘要
基于ZMP控制理论及其数学模型,通过预先给定双足机器人步态的运动轨迹,计算确定各关节的旋转角度并选定控制系统的控制算法.对遗传算法在双足机器人步行稳定性控制策略做了分析,主要解决如何产生稳定控制机器人步态的数据,在步态运行过程中保证双足机器人从一个稳定态到下一个状态时,同样也是稳定的,以实现机器人在实际行走过程中达到较好的稳定效果.
Based on ZMP control theory and the mathematical model, by presetting biped robot gait trajectory, the rotation angles of each joint are calculated, and system control algorithm is determined. The genetic algorithm in biped robot walking stability control strategy is analyzed, then robot gait stability control data are generated. Biped robot gait during running is ensured to be stable from one state to the next state, in order to achieve that actual running process of walking robots is stable.
出处
《河南科学》
2014年第7期1233-1236,共4页
Henan Science
基金
陕西省教育厅2013年自然科学专项科学研究项目(2013JK1088)
