仿人跑步机器人稳定性研究  

Research on Stability of Humanoid Running Robot

作　　者：赵子傧 

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《电子科技》2017年第11期89-92,共4页Electronic Science and Technology

摘　　要：针对仿人跑步机器人跑步过程中不易控制、容易跌倒的问题,将机器人跑步过程分为起跳、飞行两个阶段,分别采用ZMP与角动量定理进行稳定性分析。在起跳阶段,推导出机器人ZMP轨迹的计算公式,飞行阶段的角动量与起跳阶段的起跳瞬间角动量相同,因此根据起跳瞬间的角动量大小判断机器人在飞行阶段是否会发生翻转。仿真结果显示,机器人起跳阶段ZMP轨迹始终位于机器人的支撑多边形之内,飞行阶段的动量矩为0.01 kg·m2/s,说明机器人能够保持稳定。Aiming at the problem of humanoid running robot in the running process is not easy to control,easy to fall,the robot running process is divided into two stages： take-off phase and flight phase,the stability analysis is carried out by using ZMP and angular momentum theorem respectively. In the take-off phase,the calculation formula of the ZMP trajectory of the robot is derived; The angular momentum of the moment of Take-off is same with the angular momentum of the flight phases,therefore,according to the angular momentum of the moment of take-off to judge whether the robot will turn over the flight phase. The simulation results show that the ZMP trajectory of the robot is always in the support polygon of the robot,and the moment of momentum of the flight phase is 0. 01 kg·m2/s,which indicates that the robot can keep stable.

关 键 词：跑步机器人 稳定性 ZMP 角动量 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]