【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.更多还原

【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.更多还原