[1]韩亚丽,王兴松,罗翔.双足机器人稳定行走步行模式的研究[J].东南大学学报(自然科学版),2009,39(2):238-244.[doi:10.3969/j.issn.1001-0505.2009.02.011]
 Han Yali,Wang Xingsong,Luo Xiang.Study of stabilization walking pattern for biped robot[J].Journal of Southeast University (Natural Science Edition),2009,39(2):238-244.[doi:10.3969/j.issn.1001-0505.2009.02.011]
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双足机器人稳定行走步行模式的研究()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
39
期数:
2009年第2期
页码:
238-244
栏目:
机械工程
出版日期:
2009-03-20

文章信息/Info

Title:
Study of stabilization walking pattern for biped robot
作者:
韩亚丽 王兴松 罗翔
东南大学机械工程学院, 南京 211189
Author(s):
Han Yali Wang Xingsong Luo Xiang
School of Mechanical Engineering,Southeast University, Nanjing 211189, China
关键词:
双足机器人 零力矩点 步行模式 预观控制 联合仿真
Keywords:
biped robot zero moment point walking pattern preview control united simulation
分类号:
TH112
DOI:
10.3969/j.issn.1001-0505.2009.02.011
摘要:
研究了一种基于零力矩点(ZMP)预观控制系统的双足机器人稳定行走步行模式生成方法.通过对双足机器人行走过程中行走参数及ZMP轨迹进行规划,计算出机器人行走过程中的质心轨迹.由运动学模型求解出其行走过程中步行姿态,预观控制器利用未来目标ZMP参考值和双足机器人状态计算控制输入,对机器人进行稳定行走控制.最后采用ADAMS和Matlab/Simulink联合仿真技术对离线步行模式进行仿真验证,仿真结果表明双足机器人虚拟样机可实现稳定行走效果.
Abstract:
A method of stabilization walking pattern generation based on zero moment point(ZMP)and preview control system is introduced. By planning the walking parameters(step length, step height, cycle time etc.)and ZMP trajectories, the CoM(center of mass)trajectory is derived by using a cart-table model, and a robot state is computed by inverse kinematics. The preview control system calculates the input by using the frame reference of ZMP and the robot state. Gait planning information based on walking pattern generation method is imported into ADAMS as control signals through ADAMS/Control module. Errors compensation based on control algorithm is implemented by Matlab/Simulink. In the ADAMS/Simulink united simulation environment, the virtual model can walk stably. The simulation results verify the validity of walking pattern generator.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介: 韩亚丽(1978—),女,博士生; 王兴松(联系人),男,博士,教授,博士生导师,xswang@seu.edu.cn.
基金项目: 国家高技术研究发展计划(863计划)资助项目(2006AA04Z234)、国家自然科学基金资助项目(50775037).
引文格式: 韩亚丽,王兴松,罗翔.双足机器人稳定行走步行模式的研究[J].东南大学学报:自然科学版,2009,39(2):238-244.
更新日期/Last Update: 2009-03-20