| 仿人机器人的可变ZMP步态规划 |
| |
| 引用本文： | 张颖超,葛壮,胡凯.仿人机器人的可变ZMP步态规划[J].南京气象学院学报,2011(5):471-474. |
| |
| 作者姓名： | 张颖超 葛壮 胡凯 |
| |
| 作者单位： | 南京信息工程大学信息与控制学院 南京 210044;南京信息工程大学信息与控制学院 南京 210044;南京信息工程大学信息与控制学院 南京 210044 |
| |
| 基金项目： | 江苏省产学研联合创新资金(BY-2009104);南京信息工程大学科研基金(2007-0063) |
| |
| 摘 要： | 为使仿人机器人能够稳定地行走,基于三维倒立摆模型,采用了可变ZMP(Zero-Moment Point)来进行仿人机器人的步态规划.在单脚支撑期依据可变ZMP来规划COG(Center of Gravity)的轨迹,在双脚支撑期内则让ZMP保持低速匀速运动,由此来规划此时间段的COG轨迹.仿真结果验证了规划的合理性,保证了更强的稳定性,并且使得采用此规划的仿人机器人的行走和人类的行走更加相似.
|
| 关 键 词： | 仿人机器人 可变ZMP 三维倒立摆 |
| 收稿时间： | 2011/3/11 0:00:00 |
A new walking pattern synthesis with variable ZMP of humanoid robot |
| |
| ZHANG Yingchao,GE Zhuang and HU Kai.A new walking pattern synthesis with variable ZMP of humanoid robot[J].Journal of Nanjing Institute of Meteorology,2011(5):471-474. |
| |
| Authors: | ZHANG Yingchao GE Zhuang and HU Kai |
| |
| Institution: | School of Information and Cybernetics, Nanjing University of Information Science & Technology, Nanjing 210044;School of Information and Cybernetics, Nanjing University of Information Science & Technology, Nanjing 210044;School of Information and Cybernetics, Nanjing University of Information Science & Technology, Nanjing 210044 |
| |
| Abstract: | Based on the 3D Inverted Pendulum model,a new walking pattern synthesis was proposed,which can make a humanoid robot walk smoothly by variable ZMP(Zero-Moment Point).By the new way,in the single leg support phase,the COG(Center of Gravity) trajectory equation of the humanoid robot can be educed through the variable ZMP;while in the double leg support phase,the COG trajectory can be educed by the ZMP moving at a lower constant velocity.Simulation results verifies the proposed method,which can guarantee a relatively high stability.And the humanoid robot in this walking pattern can walk more smoothly,and in a more similar way to human walking. |
| |
| Keywords: | humanoid robot variable ZMP 3D Inverted Pendulum |
|
| 点击此处可从《南京气象学院学报》浏览原始摘要信息 |
| 点击此处可从《南京气象学院学报》下载免费的PDF全文 |
