零力矩点与两足机器人动态行走稳定性的关系  

The Relationship between ZMP and Stability on Dynamic Locomotion of Biped Robots

作　　者：刘志远[1] 戴绍安[1] 裴润[1] 张铨[1] 傅佩琛[1] 

机构地区：[1]哈尔滨工业大学控制工程系

出　　处：《哈尔滨工业大学学报》1994年第1期38-41,共4页Journal of Harbin Institute of Technology

摘　　要：讨论了零力矩点（ＺＭＰ）与两足机器人动态行走稳定性的关系，证明了ＺＭＰ出支撑面时若踝关节取高增益ＰＤ控制则支撑脚无法实现稳定支撑．本文最后给出了一种ＺＭＰ计算及控制方法．This paper discussed the relationship between ZMP and stability on dynamic locomotion of biped robots and proved that the supporting foot can'tsupport stably when ZMP is out of the supporting plane and the ankle takeshigh amplification PD control. In the end, a way of ZMP calculation and control is given.

关 键 词：零力短点 两足机器人 动态行走 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]