基于ZMP的类双足步行机构行走稳定性控制  

Walking Stability Control of a New Biped-imitating Walking Mechanism Based on ZMP

作　　者：王孝义[1] 秦建恒 邱晗[1] 陈富强[1] 邱支振[1] 

机构地区：[1]安徽工业大学机械工程学院,马鞍山243002

出　　处：《机械科学与技术》2014年第6期802-806,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50975001)资助

摘　　要：针对早期研究的步行机构不能独立稳定行走的缺点,通过增加平衡装置以及一定的控制策略以实现双足步行机构的稳定行走。在介绍类双足步行机构基本构型及其行走原理的基础上,详细分析了单足支撑和双足支撑时步行机构的ZMP动态位置,并通过平衡重块的规律移动控制ZMP位置使得步行机构在整个行走过程中处于稳定状态;给出了平衡重块在平衡托盘上的相对运动路径和相对运动规律。最后通过仿真实例验证了行走稳定控制分析的有效性和正确性。There was a typical disadvantage in the early developed biped walking mechanism that it could not walk stably by only one mechanism. Balance device and control strategies were applied on a new Biped-Imitating Walking Mechanism（ BIWM） to overcome this shortcoming. On the basis of introducing the basic structure of BIWM and its walking principle,the dynamic position of ZMP of BIWM during single-support phase and double-support phase were analyzed in details. The expected ZMP position,which enables BIWM to walk stably at any time,could be obtained by the controlled movement of balance mass. The relative motion path and motion function of balance mass were presented. Simulation case study was given to verify the availability of walking stability control for BIWM.

关 键 词：类双足步行机构 稳定行走 平衡装置 ZMP 

分 类 号：TH112[机械工程—机械设计及理论]