仿人机器人动态步行控制综述  

Survey on dynamic walking control of humanoid robot

作　　者：刘成军[1] 李祖枢[1,2] 薛方正[1] 

机构地区：[1]重庆大学智能自动化研究所 [2]重庆工学院人工智能系统研究所

出　　处：《计算机工程与应用》2009年第33期4-7,18,共5页Computer Engineering and Applications

基　　金：国家自然科学基金No.60574076;高等院校博士学科点专项科研基金No.20070611018~~

摘　　要：综述了仿人机器人动态步行的研究历史和研究现状。归纳了动态步行的特点,分析了动态步行稳定性判定方法,介绍了基于ZMP的姿态稳定判据和基于庞加莱映射(Poincaré Map)的步态稳定判据。总结了仿人机器人学习适应复杂地面环境步行的方法,概述了动态步行控制实现的典型解决方案,指出了动态步行控制中待解决的问题,并探讨了未来的发展方向。This paper surveys the history and current research on dynamic walking control of humanoid robot.The characteristics of dynamic walking are summarized and the stability criteria of dynamic walking are also analyzed.Posture stability criterion based on ZMP（Zero Moment Point） and gait stability criterion based on Poincare map are introduced.The learning methods and adaptation capabilities of dynamic walking on a complex terrain are presented and the typical solutions of dynamic walking control are reviewed.Several problems of dynamic walking control which need to be solved are listed and the development directions are presented.

关 键 词：仿人机器人 动态步行 稳定性 控制策略 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]