[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(1):30-34.
WANG Li-quan,LI Heng-nan,YU Zhi-wei,et al.A gait control strategy of biped robots based on the 3D inverted pendulum model[J].CAAI Transactions on Intelligent Systems,2010,5(1):30-34.
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WANG Li-quan,LI Heng-nan,YU Zhi-wei,et al.A gait control strategy of biped robots based on the 3D inverted pendulum model[J].CAAI Transactions on Intelligent Systems,2010,5(1):30-34.
移动可伸缩三维倒立摆模型的双足机器人步态控制策略
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
5
期数:
2010年第1期
页码:
30-34
栏目:
学术论文—智能系统
出版日期:
2010-02-25
- Title:
- A gait control strategy of biped robots based on the 3D inverted pendulum model
- 文章编号:
- 1673-4785(2010)01-0030-05
- 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 3D 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
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