Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to be...Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP(zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.展开更多
为得出腿式着陆器着陆稳定性判据及提高其着陆稳定性的方法,给出腿式着陆器的结构原理,结合腿式着陆器的结构特点,基于零力矩点(Zero moment point,ZMP)理论研究腿式着陆器着陆过程的稳定性及其相关理论,给出基于ZMP的腿式着陆器着陆稳...为得出腿式着陆器着陆稳定性判据及提高其着陆稳定性的方法,给出腿式着陆器的结构原理,结合腿式着陆器的结构特点,基于零力矩点(Zero moment point,ZMP)理论研究腿式着陆器着陆过程的稳定性及其相关理论,给出基于ZMP的腿式着陆器着陆稳定性分析流程,为腿式着陆器着陆稳定性研究提供参考。为验证所提出基于零力矩点理论的腿式着陆器着陆稳定性研究方法的正确性,以哈尔滨工业大学研制的四腿桁架式月球着陆器样机为例,结合所提出的腿式着陆器着陆稳定性研究方法,给出四腿桁架式月球着陆器样机的支撑多边形与ZMP的关系图,并得到了该样机在着陆过程中的ZMP及支撑多边形的计算公式,最后给出通过判断着陆器的ZMP是否位于其支撑多边形内部来判断腿式着陆器是否稳定的方法。展开更多
为了保证机器人能够在人类的生活环境中安全地工作,应该选择最稳定的运动轨迹.提出了一种能够评价不同的运动步态之间稳定性好坏的稳定性评价准则.将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,...为了保证机器人能够在人类的生活环境中安全地工作,应该选择最稳定的运动轨迹.提出了一种能够评价不同的运动步态之间稳定性好坏的稳定性评价准则.将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,分析了仿人型机器人行走过程中几种典型步态的不稳定度,同时提出了基于不稳定度的仿人型机器人步态规划的方法.当采用多种运动步态都能完成同一种任务时,用所提出的不稳定度评价方法可以在不同步长的步态中选择出稳定性最好的运动步态来执行.仿真及实验结果验证了该方法的有效性.展开更多
根据多关节双足步行机器椅的结构特点,采用D-H法建立系统运动学模型。从构造多关节双足步行机器椅行走姿态和过程零力矩点(Zero moment point,ZMP)评价考虑,提出基于优化方法的多关节双足步行机器椅行走步态的离散化模型和方法,实现过...根据多关节双足步行机器椅的结构特点,采用D-H法建立系统运动学模型。从构造多关节双足步行机器椅行走姿态和过程零力矩点(Zero moment point,ZMP)评价考虑,提出基于优化方法的多关节双足步行机器椅行走步态的离散化模型和方法,实现过程优化向有限变量优化的转变。基于过程稳定性评价的优化计算,结合动态步行仿真,完成双足步行机器椅的开环多连杆执行机构行走步态的合理规划。解决多关节双足步行机器椅行走步态过程稳定性评价与其开环多连杆执行机构的多变量泛函问题。提出的离散化模型对求解开环连杆机构的时空多变量泛函规划问题具有重要参考价值。展开更多
基金supported by "the Fundamental Research Funds for the Central Universities" ZYGX2013J123
文摘Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP(zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.
文摘考虑门架变形、轮胎刚度阻尼以及车体惯性质量等参数的影响,搭建了基于VL motion的纵向动力学模型,结合门架液压系统模型建立基于AMESim与VL motion的联合仿真分析平台,辨识负载高位抖动/晃动工况中惯性力矩的时变特征,根据零力矩点理论(Zero Moment Point,ZMP)分析了叉车纵向堆垛的稳定条件。针对叉车纵向堆垛过程中由于液压系统冲击引起的失稳问题,设计了一种组合式液压缓冲装置。仿真结果表明,由于组合式液压缓冲装置的节流与吸能作用,减轻了负载运动状态变化所引起的液压系统冲击问题,提高了叉车纵向堆垛稳定性。
文摘为得出腿式着陆器着陆稳定性判据及提高其着陆稳定性的方法,给出腿式着陆器的结构原理,结合腿式着陆器的结构特点,基于零力矩点(Zero moment point,ZMP)理论研究腿式着陆器着陆过程的稳定性及其相关理论,给出基于ZMP的腿式着陆器着陆稳定性分析流程,为腿式着陆器着陆稳定性研究提供参考。为验证所提出基于零力矩点理论的腿式着陆器着陆稳定性研究方法的正确性,以哈尔滨工业大学研制的四腿桁架式月球着陆器样机为例,结合所提出的腿式着陆器着陆稳定性研究方法,给出四腿桁架式月球着陆器样机的支撑多边形与ZMP的关系图,并得到了该样机在着陆过程中的ZMP及支撑多边形的计算公式,最后给出通过判断着陆器的ZMP是否位于其支撑多边形内部来判断腿式着陆器是否稳定的方法。
文摘为了保证机器人能够在人类的生活环境中安全地工作,应该选择最稳定的运动轨迹.提出了一种能够评价不同的运动步态之间稳定性好坏的稳定性评价准则.将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,分析了仿人型机器人行走过程中几种典型步态的不稳定度,同时提出了基于不稳定度的仿人型机器人步态规划的方法.当采用多种运动步态都能完成同一种任务时,用所提出的不稳定度评价方法可以在不同步长的步态中选择出稳定性最好的运动步态来执行.仿真及实验结果验证了该方法的有效性.
文摘根据多关节双足步行机器椅的结构特点,采用D-H法建立系统运动学模型。从构造多关节双足步行机器椅行走姿态和过程零力矩点(Zero moment point,ZMP)评价考虑,提出基于优化方法的多关节双足步行机器椅行走步态的离散化模型和方法,实现过程优化向有限变量优化的转变。基于过程稳定性评价的优化计算,结合动态步行仿真,完成双足步行机器椅的开环多连杆执行机构行走步态的合理规划。解决多关节双足步行机器椅行走步态过程稳定性评价与其开环多连杆执行机构的多变量泛函问题。提出的离散化模型对求解开环连杆机构的时空多变量泛函规划问题具有重要参考价值。
