双足步行机器人的ZMPCoP检测及研究  

Measurement and Study on ZMP CoP of the Biped Walking Robot

作　　者：林玎玎[1] 刘莉[1] 赵建东[1] 陈恳[1] 

机构地区：[1]北京清华大学精仪系制造所,北京100084

出　　处：《机器人》2004年第4期368-372,379,共6页Robot

摘　　要：ZMP(零力矩点 )和CoP(压力中心 )是评价双足步行机构行走稳定性的重要参数 .本文在研究了ZMP和CoP两者关系的基础上 ,根据THBIP I仿人机器人基于ZMP理论的姿态调整要求和六维力 /力矩传感器的安装位置 ,推导了适用于双足机器人的CoP计算公式 ,建立了采用六维力 /力矩传感器的CoP检测系统 .进行了THBIP I仿人机器人行走过程的实际CoP检测实验 ,并对实验结果进行了讨论 .ZMP (Zero Moment Point) and (Center of Pressure) CoP are important criteria for the stability of the biped locomotion. In this paper, the relation between ZMP and CoP is studied. Based on the posture adjustment requirement of THBIP I and the installation position of the 6 axis force moment sensors, the formulae for computing CoP of a humanoid biped robot are deduced, and a CoP measurement system based on the 6 axis force moment sensors is presented. The accuracy of this system is experimentally confirmed, and CoP is measured throughout the whole walking phase. The results of measured CoP are discussed.

关 键 词：双足步行机器人 ZMP COP 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]