轮式仿人机器人的ZMP建模及动态稳定判据  

The ZMP Modeling and the Dynamic Stability Criterion of the Wheel-based Humanoid Robot

作　　者：李艳杰[1] 钟华[2] 

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110168 [2]中国科学院沈阳自动化研究所机器人国家重点实验室

出　　处：《沈阳理工大学学报》2009年第1期79-84,共6页Journal of Shenyang Ligong University

基　　金：国家十五"863"计划项目(2001AA422170)

摘　　要：介绍了ZMP的概念,比较常见的几种ZMP建模方法,提出将高效牛顿-欧拉算法(RENA)与ZMP的概念相结合的迭代ZMP建模方法,并利用该方法完成轮式仿人机器人的ZMP建模.通过模型分析,得出该轮式仿人机器人的ZMP简化计算公式.最后得出此类轮式仿人机器人的稳定性判据及稳定度的定义.The concept of ZMP is introduced. The common ZMP modeling methods are compared and the iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP is presented. The ZMP model of the wheel-based humanoid robot is built using the iterative ZMP computational method. The simplified ZMP computational equation of the wheel-based humanoid robot is given. The dynamic stability criterion and the stability degree of the humanoid robot are defined in the last part.

关 键 词：零力矩点 仿人机器人 动态稳定性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]