基于零力矩点预观控制的在线步态规划  

On-line gait planning by using preview control of zero moment point

作　　者：曾鹤[1] 杨宜民[1] 

机构地区：[1]广东工业大学自动化学院,广州510006

出　　处：《计算机应用》2014年第2期514-518,共5页journal of Computer Applications

摘　　要：提出了一种基于零力矩点(ZMP)预观控制的仿人机器人在线步态规划方法。参照仿人机器人的ZMP表达式,将水平角动量引入机器人的桌子-小车模型表达式,对其进行了扩展;基于扩展桌子-小车模型并结合预观控制理论,在线完成机器人的步态规划。为了提高机器人步行的稳定性,将髋关节轨迹的优化问题转化为质心轨迹的调节问题,构造预观控制器对机器人的质心轨迹进行校正,实现机器人的步态优化。仿真结果表明了所用方法的有效性。This paper introduced a method of on-line gait planning based on preview control of ZMP （Zero Moment Point）. With reference to the ZMP expression of humanoid robot, the horizontal momentum was introduced into the table-cart model＇s expression. Based on the extended table-cart model and combined with preview control theory, the on-line gait planning of robot was completed. Furthermore, to improve the stability of robot, the optimization problem of hip trajectory was transformed into the adjustment problem of the eentroid trajectory, and the eentroid trajectory was compensated by preview control to achieve robot gait optimization. The simulation results show that this method is effective.

关 键 词：仿人机器人 扩展桌子一小车模型 预观控制 步态优化 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]