小型仿人机器人步行稳定控制方法研究  

Research on Walking Stability Control Method for Small Humanoid Robots

作　　者：李光日[1] 黄强[2] 徐乾[2] 李国栋[2] 

机构地区：[1]中国空间技术研究院载人航天总体部,北京100094 [2]北京理工大学智能机器人研究所,北京100081

出　　处：《长春理工大学学报（自然科学版）》2014年第3期60-65,共6页Journal of Changchun University of Science and Technology(Natural Science Edition)

摘　　要：针对小型仿人机器人足部异常着地姿态对步行稳定性的重要影响,提出了一种基于力分布的快速着地柔顺控制方法,使机器人能够根据着地时地面反作用力的分布情况,快速判断足部着地姿态,通过实时调节踝关节实现机器人的快速着地柔顺控制。该方法结合基于零力矩点(Zero Moment Point,ZMP)和身体姿态的平衡控制方法,在运动调节功能的协调下,形成了一个较为完备的小型仿人机器人实时稳定控制体系。In order to match the walking stability requirement when foot is landing abnormally, a compliance control method based on the distribution of landing stress is put forward. According to the fast judgment of abnormal landing posture,the small humanoid robot can adjust the ankle to achieve better stability;the balance control methods are used based on the ZMP and attitude to guarantee the walking stability by adjusting the ankle and hip of the robot;the rela-tionship among the dynamic gait,stability control and motion restriction can be coordinated by motion adjustment. By combining these three control methods,a real-time stability control system of small humanoid robot are obtained.

关 键 词：仿人机器人 双足步行 稳定控制 

分 类 号：TG156[金属学及工艺—热处理]