[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(6):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(6):536-540.
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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(6):536-540.
仿人机器人稳定步行控制研究
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
3
期数:
2008年第6期
页码:
536-540
栏目:
学术论文—智能系统
出版日期:
2008-12-25
- Title:
- Research on the control of stable gaits in humanoid robots
- 文章编号:
- 1673-4785(2008)06-0536-05
- 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 twodimensional 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.
ZHANG Rui，WU Chengdong.Some recent progress in robotic intelligent control［J］. Journal of Shenyang Architectural and Civil Engineering Institute: Natural Science, 2003, 19(1): 61-64.
［2］王耀南.机器人智能控制工程［M］. 北京:科学出版社，2004：287-300.
［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 realtime 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 omnidirectional 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.
［7］CHESTNUTT J H, LAN M, CHEUNG G, et al. Footstep planning for the Honda ASIMO humanoid［C］//Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain, 2005: 629-634.
［8］张国良，曾 静，柯熙政，等，模糊控制及其MATLAB应用［M］.西安:西安交通大学出版社，2002.
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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