仿人机器人上下楼梯稳定行走控制策略  

Control strategy of walking stability of humanoid robot up and down stairs

作　　者：肖乐[1] 殷晨波[2] 郑冬华[2] 

机构地区：[1]常熟理工学院计算机科学与工程学院,江苏常熟215500 [2]南京工业大学机械与动力工程学院,江苏南京210009

出　　处：《计算机工程与设计》2009年第10期2453-2456,共4页Computer Engineering and Design

摘　　要：提出了仿人机器人上下楼梯稳定行走控制策略。首先引入了虚拟零力矩点的概念,然后推导了上下楼梯稳定区域和稳定裕量的计算方法,如果ZMP点在稳定区域内,则采用基于ZMP在线调整控制方案,提高稳定性。如果FZMP点在稳定区域外,则采用基于FZMP调节控制策略,及时修正行走轨迹,使仿人机器人获得新的稳定区域,恢复稳定。仿真结果表明了该控制策略的正确可行。The control strategy ofwalking stability ofhumanoid robot is proposed. By introducing a concept of FictitiousZero-Moment Point, the area of stable region and stability margin in single-support phase and double-support phase are deduced. If the ZMP is in the support area, the joint angles are adjusted by ZMP control strategy. Otherwise, the desired trajectories are modified by FZMP control strategy. The effectiveness of the proposed methods is confirmed by simulation.

关 键 词：仿人机器人 零力矩点 虚拟零力矩点 稳定裕量 控制策略 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]