Robocup3D仿人机器人中基于频率加权的ZMP补偿算法  

ZMP compensation for robocup3D based on the frequency signal

作　　者：李娟娟[1] 

机构地区：[1]南京邮电大学自动化学院,南京210003

出　　处：《电子测试》2011年第3期20-24,共5页Electronic Test

摘　　要：本文提出了一种新的ZMP补偿算法,本算法以仿人机器人的ZMP误差信号的频率分析为基础。ZMP(zero moment point)即零力矩点,是仿人机器人的一个重要的物理量,根据双足机器人系统的ZMP方程和实际的ZMP信息,在Tomoya Sato和Kouhei提出的ZMP的补偿方法的基础上,提出一种新的补偿方法,根据ZMP误差信号的频率大小调整反馈参数,实时补偿机器人保持稳定所需要的力矩,从而实现机器人行走过程中的速度与稳定性的控制。In this paper, we propose a new ZMP compensation method based on the frequency signal of the ZMP error in Robocup3D.The ZMP is defined as the point on the ground about which the sum of all the moments of the active forces equals zeros, and it’s an important point for the robot. The ZMP equation proposed in the following is used to represent the ZMP reference, and the sensor of the robot can gives us the ZMP response. Thanks to the ZMP compensation method proposed by Tomoya Sato and Kouhei, we proposed a new compensation method which can realize the dynamic stability during the robot’s walking process. The proposed method adjust feedback parameters according to the stability index and offer small torque to the robot in real-time which can ensure the dynamic stability of the robot .

关 键 词：ZMP 稳定性 补偿系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]