基于过程ZMP的双足步行机器椅步态规划  

Gait planning on biped walking machinery chair based on process ZMP

作　　者：石斌[1] 王安麟[2] 赵群飞[3] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]同济大学机械工程学院,上海200092 [3]上海交通大学电子信息与电气工程学院,上海200030

出　　处：《机械设计》2007年第10期11-14,共4页Journal of Machine Design

基　　金：国际科技合作重点资助项目(2003DF000017);上海市科学技术委员会科研资助项目(041107039)

摘　　要：解决了多关节双足步行机器椅行走步态过程稳定性评价与其开环多连杆执行机构的多变量泛函问题。从构造多关节双足步行机器椅行走姿态和过程ZMP(ZeroMom ent Point,零力矩点)评价考虑,提出了基于优化方法的多关节双足步行机器椅行走步态的离散化模型和方法,实现了基于过程稳定性评价的双足步行机器椅的开环多连杆执行机构行走步态的合理规划。文中提出的离散化模型对求解开环连杆机构的多变量泛函规划问题具有重要的参考价值。This paper solved the problems of stability evalua- tion on walking gait process of multi-joint biped walking machinery chair and its multivariable functional of the open looped multi-con- necting rod execution mechanism. By considering the constitution on the walking gait of multi-joint biped walking machinery chair and the evaluation on Zero-Moment-Point （ZMP） of the process, the discretization model and method for walking gait of multi-joint biped walking machinery chair based on optimization method were put for- ward. Thus rational planning on the walking gait of the open looped multi-connecting rod executing mechanism was achieved based on the stability evaluation of process. The discretization model brought forward in this paper possesses significant referential value for solving the problems of multivariable functional planning of the open looped connecting rod mechanism.

关 键 词：步态规划 优化 零力矩点(ZMP) 步行仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]