A New Method of Desired Gait Synthesis for Biped Walking Robot Based on Ground Reaction Force  

作　　者：张永学 

出　　处：《High Technology Letters》2000年第4期33-38,共6页高技术通讯（英文版）

基　　金：SupportedbytheHighTechnologyResearchandDevelopmentProgramofChina.

摘　　要：A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D'Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.

关 键 词：BIPED WALKING robot DESIRED GAIT SYNTHESIS ZMP Ground reaction force Fuzzy logic 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]