双足机器人稳定性控制的定性映射描述  

Qualitative Mapping Applied to Stability Control for Biped Robot

作　　者：冯嘉礼[1] 臧若兰[2] 刘永昌[3] 

机构地区：[1]上海海事大学信息工程技术研究所,上海200135 [2]上海交通大学机器人研究所,上海200030 [3]上海海事大学联合创新基地,上海200135

出　　处：《广西师范大学学报（自然科学版）》2006年第4期119-122,共4页Journal of Guangxi Normal University:Natural Science Edition

基　　金：国家自然科学基金资助项目(60075016)

摘　　要：双足步行机器人的自由度大,具有高度的灵活性以适应环境,这就给稳定性的研究与实现提出了很高的要求。当前,双足机器人的步频加快、步幅增大以及奔跑功能的实现急待理论突破的指导。运用定性映射数学表达,尝试对双足机器人进行更有效地实时控制以实现动态稳定,设计了一个实时调整动态参数的稳定性控制系统,以实现非线性逼近双足机器人期望零力矩点ZMP(zeromomentpoint)轨迹,从而保证了步态的可靠性和系统的抗干扰能力。相比其他的控制方法,此方法更简单、精确,也有利于编程的实现。The biped robot is a complicated system with many freedoms and high mobility,which make it accommodate the environment. It demands for the research and implementation of stability. Currently,to achieve high frequency and great range of the biped robot＇s gait requires theory solution urgently. This paper,applies for the algorithm of qualitative mapping to control the locomotion stability of the biped robot on line. A control system which on line adjusts the dynamic parameters is designed to approximate trajectories of optimal Zero Moment Point （ZMP） nonlinearly. Consequently,and realize the optimal gaits and the ability to resist external disturbance. Compare with other algorithms ,the algorithm in this paper is more simple ,precise,and easy to perform.

关 键 词：双足机器人 期望ZMP 定性映射 非线性逼近 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]