基于GCIPM行走的步行机器人路径规划  

Biped Robot Walking Using Gravity-compensated Inverted Pendulum Mode

作　　者：李军[1] 李巍巍[2] 王划一[1] 张博[1] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061 [2]山东大学计算机科学与技术学院,山东济南250061

出　　处：《控制工程》2006年第1期94-96,共3页Control Engineering of China

摘　　要：介绍了利用重力补偿倒立摆方式(GCIPM)提高步行机器人行走的稳定性。该方法与以往利用线性倒立摆方式(IPM)控制的机器人相似,但是考虑了期望轨迹上机器人的迈步腿力。当基于IPM的路径规划应用到实际的步行机器人上,依据ZMP控制理论从预固定点移动时,被忽略的迈步腿力的变化在实际中使稳定性得不到保证。由于GCIPM考虑了迈步腿力的影响,仿真表明,应用GCIPM的步行机器人,稳定性得到优化提高。Using the GCIPM to generate a biped locomotion pattern to improve the stability of biped robot, being similar to the one generated by the IPM, accommodates the free leg dynamics based upon its predetermined trajectory. When the biped locomotion based upon the IPM is applied to real biped robots, the stability of the robot is disturbed due to the fact that the neglected dynamics of free legs is not actually negligible, moving the ZMP away from the presumed fixed point. The GCIPM includes the effect of dynamics of the free leg. Simulation results show that the biped robot is more stable with the walking pattern generated by the GCIPM than the one by the IPM.

关 键 词：重力补偿倒立摆方式 线性倒立摆方式 步行机器人 零力矩点 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]