拟人机器人未知环境下稳定行走控制方法  

Control Methods for a Humanoid Robot Walking Stably on the Unknown Ground

作　　者：肖乐[1] 殷晨波[2] 谢从华[1] 

机构地区：[1]常熟理工学院计算机科学与工程学院,江苏常熟215500 [2]南京工业大学机械与动力工程学院,江苏南京210009

出　　处：《常熟理工学院学报》2015年第4期92-95,共4页Journal of Changshu Institute of Technology

基　　金：常熟理工学院青年教师科研基金资助项目"基于FZMP的仿人机器人稳定性分析"(KYZ20122032)

摘　　要：拟人机器人是机器人研究领域的重点研究方向之一,研究主要集中在实现双足行走,在平整地面上和已知地面环境下的稳定行走,但是在未知地面环境下实现稳定行走一直是研究的难点和热点.本文研究了在未知环境下通过调整落地时间、落地位置、落地减振控制三种方法控制稳定.这些控制方法使得机器人在未知环境下摆动腿落地瞬间冲击力较大时能保持良好的稳定性.A humanoid robot is one of the key research directions in the area of robots research. The present study focuses on the realization of bipedal on the flat ground and stable walking in the known ground environment, but how to realize stable walking on unknown ground has always been a difficulty and a focus of research. This paper conducted a research on the three control methods of the unknown environment by adjusting the landing time, the landing position and ground vibration stability control. These control methods could maintain stabil- ity during the whole working process, especially when the ground is uneven and the swing leg is landing.

关 键 词：拟人机器人 未知环境 稳定行走 控制方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]