一种自动控制技术的双足机器人跟踪误差在线修正方法

On-line correction method of tracking error for a two legged robot with automatic control technology

以实时控制和步态轨迹优化为角度,分析了双足机器人单腿支撑阶段跟踪误差在线修正方法,根据ZMP和Co M之间的数学关系计算实际ZMP,得到ZMP和Co M偏差,根据偏差在线修正优化机器人步态轨迹,达到实时控制的目的,确保机器人行走的稳定性。

In this paper It analyzes the biped robot leg support phase tracking error online correction method based on real-time control and gait trajectory optimization, calculating the actual ZMP based on the mathematical relationship between the ZMP and COM deviation obtained, according to the deviation Fixed-line optimization gait trajectory to achieve the purpose of real-time control to ensure the stability of the walking robot.