[1]王立权,李恒楠,俞志伟,等.移动可伸缩三维倒立摆模型的双足机器人步态控制策略[J].智能系统学报,2010,5(01):30-34.
 WANG Li-quan,LI Heng-nan,YU Zhi-wei,et al.A gait control strategy of biped robots based on the 3D inverted pendulum model[J].CAAI Transactions on Intelligent Systems,2010,5(01):30-34.
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第5卷
期数:
2010年01期
页码:
30-34
栏目:
出版日期:
2010-02-25

文章信息/Info

Title:
A gait control strategy of biped robots based on the 3D inverted pendulum model
文章编号:
1673-4785(2010)01-0030-05
作者:
王立权1李恒楠1俞志伟2韩金华1
1.哈尔滨工程大学 机电工程学院,黑龙江 哈尔滨 150001;
 2.南京航空航天大学 仿生结构与材料防护研究所,江苏 南京 210016
Author(s):
WANG Li-quan1 LI Heng-nan1 YU Zhi-wei2 HAN Jin-hua1
1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
2.Institute of Bioinspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
关键词:
双足机器人三维倒立摆模型步态控制策略
Keywords:
biped robot 3D inverted pendulum model gait control strategy
分类号:
TP39
文献标志码:
A
摘要:
双足机器人的步态控制策略是保证双足稳定行走的重要条件之一.结合人在行走时ZMP平稳移动的特性,建立了一种移动可伸缩三维倒立摆模型;在约束平面内分析ZMP与COG的运动关系,将ZMP和COG分别定为快变因子和慢变因子,提出了移动可伸缩三维倒立摆模型的双足机器人步态控制策略;最后通过Matlab/ADAMS进行了步态控制仿真研究.仿真结果表明双足机器人可以稳定地行走,验证了该步态控制策略的可行性.
Abstract:
Gait control strategies are an important factor affecting the walking stability of bipedal robots. After analyzing the stable motion of zero moment point (ZMP), we modeled the motion as a scalable 3D inverted pendulum. The relationship between motion of the ZMP and the center of gravity (CoG) in the constrained plane was analyzed. ZMP was defined as a fast variable, and CoG as a slow variable. With these preconditions, a strategy for controlling bipedal robotic gait could be implemented. It was then simulated using Maltlab/ADAMS. The simulation results indicated that this control strategy allows the bipedal robot to walk with good stability, thus verifying the feasibility of the gait control strategy. 

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2008-12-09.
基金项目:哈尔滨工程大学基金资助项目(SJY0602).
通信作者:李恒楠.E-mail:softli1983@hotmail.com.
作者简介:
王立权,男,1957年生,教授,博士生导师,海洋智能机械研究所所长,主要研究方向为机器人技术.承担国家自然科学基金项目2项,“863”重大项目资助项目2项,国家基础研究项目2项.黑龙江省自然科学基金重点项目2项.发表学术论文40余篇,获国家发明专利15项.
 李恒楠,男,1983年生,硕士研究生,主要研究方向为双足仿人机器人结构及其步态控制. 
 俞志伟,男,1980年生,博士研究生,主要研究方向为双足机器人拟人步态规划与控制研究.
更新日期/Last Update: 2010-03-31