| 仿人机器人步行运动控制研究 |
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| 引用本文： | 柯文德,陈珂,李家兰.仿人机器人步行运动控制研究[J].茂名学院学报,2012,22(4):30-33. |
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| 作者姓名： | 柯文德 陈珂 李家兰 |
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| 作者单位： | 1. 广东石油化工学院计算机与电子信息学院,广东,茂名525000 哈尔滨工业大学计算机科学与技术学院,哈尔滨150001
2. 广东石油化工学院计算机与电子信息学院,广东,茂名525000 |
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| 基金项目： | 广东高校石油化工过程装备与信息化控制工程技术开发中心开放基金 |
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| 摘 要： | 针对仿人机器人多自由度的复杂机械连杆特征，详细分析了机器人运动构型以及步行规划约束、ZMP控制、奇异位姿控制、二维倒立摆等运动模型，提出单双腿交替运动序列并采用离线生成双足步行运动轨迹和在线调整的方法。实验验证了方法有效性。
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| 关 键 词： | 机器人 双足步行 零力矩点（ZMP） 倒立摆 |
A Study of Walking Movement Control of Humanoid Robot |
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| KE Wen-de,CHEN Ke,LI Jia-lan.A Study of Walking Movement Control of Humanoid Robot[J].Journal of Maoming College,2012,22(4):30-33. |
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| Authors: | KE Wen-de CHEN Ke LI Jia-lan |
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| Institution: | 1(1.College of Computer and Electronic Information,Guangdong University of Petrochemical Technology,Maoming 525000,China;2.School of Computer Science,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | Aimed to the characteristics of complex mechanical links with multi DOF(degree of freedom) of humanoid robot,the movement construction was analyzed as well as the kinetic models such as walking planning constraint,ZMP constraint,singular location control,two-dimension inverted pendulum,etc.The method of alternative moving sequence with the turn of single leg and double legs,and the offline walking track creating and the online adjusting was proposed.The experiment showed the validity of method. |
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| Keywords: | robot biped walking zero moment point (ZMP) inverted pendulum |
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