基于ZMP判据的仿人机器人步态模仿  

Humanoid Robot Gait Imitation Based on ZMP Criterion

作　　者：于建均 张远 左国玉 阮晓钢 吴鹏申 YU Jianjun;ZHANG Yuan;ZUO Guoyu;RUAN Xiaogang;WU Pengshen(Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China;Beijing Key Laboratory of Computational Intelligence and Intelligent System,Beijing 100124,China)

机构地区：[1]北京工业大学信息学部,北京100124 [2]计算智能与智能系统北京市重点实验室,北京100124

出　　处：《北京工业大学学报》2018年第9期1187-1192,共6页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(61375086);高等学校博士学科点专项科研基金资助项目(20101103110007);北京工业大学智能制造领域大科研推进计划资助项目(JZ041001201702)

摘　　要：仿人机器人行走稳定性研究是机器人领域一大研究热点,目前主要依据动力学模型规划稳定步态,但依靠步态规划形成的运动模式往往需要复杂的运算,并且机器人的运动形式单一.为实现机器人多样化步态的生成,在模仿学习的框架下对机器人的步态模仿问题展开研究,利用人体行走信息作为示教数据,实现仿人机器人对人体行走过程的模仿学习,在简化运动规划的同时使机器人的运动步态更具多样化与拟人化.为满足机器人在步态模仿过程中的稳定性,基于零力矩点(zero moment point,ZMP)判据补偿质心偏移,利用滞回曲线确定行走过程中支撑脚的切换以实现稳定性控制.基于NAO机器人的模仿学习系统仿真研究结果表明:ZMP判据的引入有效地保证了机器人对人体示教步态模仿的稳定性,基于滞回曲线的支撑脚选取保证了支撑脚切换的平稳.Research on walking stability of humanoid robot is a hot spot of robot field,gait planning based on dynamics model is the main method,but the motion pattern based on gait planning need complex calculation and the form is single.To generate diverse gait of robot,research on the gait of humanoid robot within a framework of imitation learning was launched,human walking information was used as teaching data to realize the imitation of human.The motion planning of humanoid robot was simplified and more diverse and personate behaviors.In order to satisfy the stability of walking process,the cog deviation was compensated based on zero moment point(ZMP)criterion and the switching of the supporting feet in the walking process was determined by using the hysteresis curve to ensure the stability of robot.The simulation of imitation system based on robot NAO indicates that the utilizatin of ZMP criterion ensure the stability in the process of human gait imitation,and the switching of supporting feet based on hysteresis curve ensure the stability of switching supporting foot.

关 键 词：仿人机器人 模仿学习 支撑脚选择 零力矩点(ZMP)判据 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]