基于模糊控制的仿人机器人零力矩点在线调整  

ZMP online adjustment of humanoid robot based on fuzzy control

作　　者：陈磊[1] 张国良[1] 张维平 敬斌[1] 

机构地区：[1]第二炮兵工程大学301教研室,西安710025

出　　处：《计算机应用》2013年第A01期298-300,共3页journal of Computer Applications

摘　　要：针对机器人在步行过程中容易受到干扰而使零力矩点(ZMP)轨迹偏离期望值,导致不能稳定行走的问题,提出采用模糊控制的方法调整上体姿态以实现对ZMP偏差的补偿。以NAO仿人机器人为平台,首先用参考轨迹法对机器人进行步态规划,得到保证机器人稳定步行的ZMP轨迹;然后针对步行过程中出现干扰使ZMP发生偏差的情况,采用模糊控制方法调整髋关节角度使ZMP轨迹向期望轨迹靠拢。仿真实验表明该方法能有效克服干扰对机器人步行的影响。That the humanoid robot＇ s walk process is susceptible to be interfered makes the Zero Moment Point （ZMP） trajectory deviate from expectation which make it can not walk stably. This paper put forward an approach to adjust the robot＇ s upper body posture for ZMP deviation compensation by using fuzzy control. The humanoid robot NAO was used as a platform, the reference locus method was used on the robot gait planning to guarantee robot getting stable walking ZMP trajectory; then for the case that the interference of robot＇ s process make ZMP deviation, fuzzy control method was adopted to adjust hip angle to be close to the desired trajectory of the ZMP. Experimental results indicate that the approach can effectively overcome the influence of interference on robot walking process.

关 键 词：仿人机器人 步态规划 零力矩点在线调整 模糊控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]