仿人机器人上楼梯行走稳定性研究  

Research on walking stability of humanoid robot upstairs

作　　者：肖乐[1] 李明杰[1] 

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

出　　处：《计算机工程与应用》2010年第3期195-197,245,共4页Computer Engineering and Applications

摘　　要：针对仿人机器人上楼梯行走稳定性问题,进行了步态规划、稳定区域和稳定裕量的计算、控制策略等关键技术的研究。通过仿真,得到稳定行走姿态变化情况及各关节参数,为研究实时控制提供了依据。The focus is the problem of walking stability in humanoid robot going upstairs.Gait planning of a humanoid robot going upstairs and the area of stable region and stability margin are deduced.The control strategy of walking stability of humanoid robot is proposed.The situation of posture change and the parameters of joints are obtained by simulation.This research establishes the foundation for on-line control of humanoid robot.

关 键 词：仿人机器人 步态规划 稳定裕量 控制策略 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]