基于实时ZMP检测的类人足球机器人步态规划  

Gait Planning of Humanoid Soccer Robot Based on Real-time ZMP Measurement

作　　者：程南瑞[1] 刘国栋[1] 徐菊香[1] 

机构地区：[1]江南大学通信与控制工程学院,江苏无锡214122

出　　处：《计算机仿真》2010年第4期154-158,共5页Computer Simulation

摘　　要：为了保证类人机器人行走的稳定性,合理的步态规划和误差补偿是最为关键的两个方面。针对研究新一代的类人足球机器人AFU2008,在步态规划方面,根据ZMP(零力矩点)稳定性原理,首先用参考轨迹法进行关节轨迹规划,然后由运动学逆解出的关节转角值对机器人舵机进行实际控制;在误差补偿方面,采用对ZMP影响较大的上体运动进行误差补偿,并针对传统的上体补偿方法的局限性,提出了允许上体高度作匀速运动的改进方法。最后通过仿真和实际实验表明:相对于传统补偿方法,新方法能够更加明显减小机器人的ZMP误差,提高机器人ZMP的稳定裕度,使得类人机器人可以稳定快速的行走。Appropriate gait planning and error compensation are two most crucial aspects to ensure the stability of humanoid robots＇ walking. In the aspect of gait planning, this article carried out track planning with referenced traj- ectory method for the new humanoid soccer robot AFU2008 on the basis of ZMP （Zero Moment Point） stability crite- rion; and then the values of joint angles which have been solved out through inverse kinematics were sent to control the mini servo motors of the humanoid robot. With regard to error compensation, this article adopted trunk movement which has great effect on ZMP to carry out error compensation. An improved method which allows the height of trunk to change evenly was introduced as the traditional method of trunk compensation has some limitations. At last simula- tions and experiments proved that this improved method can reduce the ZMP error more obviously than the traditional method and it can increase the stability margin of ZMP to make humanoid robot walk stably and quickly.

关 键 词：类人足球机器人 零力矩点 步态规划 上体补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]