四足仿生机器人稳定性判定方法  

Stability judging method for quadruped bionic robot

作　　者：王鹏飞[1] 黄博[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2008年第7期1063-1066,共4页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2004AA420110);黑龙江省重点攻关项目(GB04A502)

摘　　要：为了准确评定足式机器人的行走稳定性及稳定裕度,提出了采用支撑面压力中心至机器人各足支撑点构成的支撑多边型各边的最短距离来评定机器人的行走稳定性的一般准则.根据该准则,引入了最小稳定距离概念,并将该判定准则转化为重心在支撑面的投影到支撑多边形边缘的最短距离来间接判定机器人的稳定性及稳定裕度,方便了计算.通过仿真讨论了干扰项、重心高度、支撑面倾角以及机器人质量等变量与稳定性的关系,最后给出了实验,验证了一般准则的有效性.In order to exactly evaluate the walking stability and stability margin of a quadruped robot a general criteria is proposed adopting the minimal distance from the supporting edge to the center of pressure on ground to estimate the walking stability of the robot. For convenience, the conception of minimal stability distance（MSD） is introduced. Based on the general criteria, the minimal distance from the supporting edge to the vertical projection point of robot＇s center of gravity on ground is used to embody the general criteria indirectly. By simulation, the relations between stability and parameters such as disturb elements, height of center of gravity, obliquity of supporting plane and mass of the robot are discussed. The experimental result proves the effectiveness of the general criteria.

关 键 词：四足机器人 压力中心 稳定性 稳定裕度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]