[1]彭秀艳,李一丹,吕淑萍,等.仿人机器人稳定步行控制研究[J].智能系统学报,2008,3(06):536-540.
 PENG Xiu-yan,LI Yi-dan,LV Shu-ping,et al.Research on the control of stable gaits in humanoid robots[J].CAAI Transactions on Intelligent Systems,2008,3(06):536-540.
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仿人机器人稳定步行控制研究(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第3卷
期数:
2008年06期
页码:
536-540
栏目:
出版日期:
2008-12-25

文章信息/Info

Title:
Research on the control of stable gaits in humanoid robots
文章编号:
1673-4785(2008)06-0536-05
作者:
彭秀艳1李一丹2吕淑萍1 赵希人1
1.哈尔滨工程大学自动化学院,黑龙江哈尔滨150001;2.黑龙江科技学院电气工程与信息学院,黑龙江哈尔滨 150027
Author(s):
PENG Xiu-yan1 LI Yi-dan2 LV Shu-ping1 ZHAO Xi-ren1
1.College of Automation, Harbin Engineering University, Harbin 150001,China;2.College of Electrical Engineering and Information, Heilongjiang Institute of Science and Technology, Harbin 150027,China
关键词:
ZMP稳定判据模糊控制踝关节运动
Keywords:
ZMP stability criterion fuzzy control ankle joint motion
分类号:
TP273.4
文献标志码:
A
摘要:
介绍了仿人机器人运动控制研究现状,通过对步行机器人稳定性判据ZMP分析,提出通过控制踝关节转动角度来调节ZMP的位置,以保证机器人行走的稳定性.根据模糊控制理论,设计出步行机器人踝关节二维模糊控制系统及模糊控制器.仿真结果表明步行机器人能够通过控制踝侧向关节的相对转动调节ZMP点的位置,实现机器人的稳定步行.
Abstract:
This paper introduces the status of current research on control of humanoid robot motion. After analyzing the criterion for stability in walking robots, we concluded that adjusting the zero movement point (ZMP) by controlling the rotational angle of the ankle joint guarantees walking stability. A twodimensional fuzzy control system for ankle joints and a corresponding fuzzy controller were designed according to fuzzy control theory. A simulation was then done. The simulation results verified that walking robots have stable motion when the position of the ZMP point is adjusted by controlling the relative angular motion of the ankles.

参考文献/References:

[1]张    锐,吴成东.机器人智能控制研究进展[J].沈阳建筑工程学院学报:自然科学版, 2003, 19(1): 61-64.
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[3]WANG Guang, HUANG Qiang,GENG Juhong, et al. Cooperation of dynamic patterns and sensory reflex for humanoid walking [C]//IEEE International Conference on Robotics and Automation. Tapei,China,2003,2: 2472-2477.
[4]柯显信.仿人形机器人双足动态步行研究[D].上海:上海大学,2005.
[5]LEE B J, STONIER D, KIM Y D, et al. Modifiable walking pattern generation using realtime ZMP manipulation for humanoid robots[C]//Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego,USA,2007:4221- 4226.
[6]HONG S, OH Y H, CHANG Y H, et al. An omnidirectional walking pattern generation method for humanoid robots with quartic polynomials[C]//Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.San Diego,USA, 2007: 4207- 4213.
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备注/Memo

备注/Memo:
收稿日期:2008-08-26.
基金项目:黑龙江省科技攻关计划资助项目(GC05A506).
作者简介:
彭秀艳,女,1962年, 教授, 主要研究方向为随机系统估计与控制、复杂系统建模及预测.获省部级科技进步奖5项.发表学术论文40余篇,其中多篇被EI、ISTP检索.
李一丹,女,1964年,副教授,主要研究方向为电气传动、柔性交流输电系统及工业电气自动化.IEEE会员. 作为访问学者在加拿大瑞尔松大学主持完成加拿大NSERC(加拿大自然科学与工程研究基金)及院企合作科研课题3项.获得黑龙江省科技进步二等奖1项.发表学术论文10余篇,其中被SCI、EI、ISTP检索5篇.出版专著1部.
吕淑萍,女,1963年,教授,主要研究方向为模式识别与智能控制、控制理论及其应用.
更新日期/Last Update: 2009-04-03