双足溜冰机器人动态稳定性判据研究  

Dynamic stability criterion of biped ice-skater robot

作　　者：徐子力[1] 吕恬生 宋立博[1] 徐振华[1] 费守勇[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《哈尔滨工业大学学报》2009年第9期145-150,共6页Journal of Harbin Institute of Technology

摘　　要：根据轮滑原理设计出双足从动轮溜冰机器人,使用D-H方法给出运动学方程.将机器人腿划分为支撑腿和摆动腿两种类型,考虑本体平衡条件和滚轮运动约束条件,并且假设摆动腿滚轮处于最大静摩擦状态,推导出机器人滚轮与地面三种不同接触情况下的运动稳定性判据.仿真和实验证实了稳定性判据的正确性和可行性.A leg-wheeled passive wheel type of biped ice-skater robot was designed on the basis of rolling and skating principle in this paper. The kinematic analysis on it was carried out by Denavit-Hartenberg （ D-H ） method. The robot＇s legs were classified into supporting leg and swing leg. Assumed that the static frictional force in the normal direction of four wheels on the swing leg was： in critical condition, three kinds of stability criteria taking the kinematic constraints of the wheel and the balance of the body into account were discussed depending on the state between the wheels and the plane. The validity and feasibility of the stability criterion were verified by simulations and experiments on the robot.

关 键 词：双足溜冰机器人 摩擦力 动态稳定性判据 ZMP 

分 类 号：TP242.1[自动化与计算机技术—检测技术与自动化装置]