轮式仿人机器人的ZMP建模及动态稳定判据

介绍了ZMP的概念,比较常见的几种ZMP建模方法,提出将高效牛顿-欧拉算法(RENA)与ZMP的概念相结合的迭代ZMP建模方法,并利用该方法完成轮式仿人机器人的ZMP建模.通过模型分析,得出该轮式仿人机器人的ZMP简化计算公式.最后得出此类轮式仿人机器人的稳定性判据及稳定度的定义.

The concept of ZMP is introduced.The common ZMP modeling methods are compared and the iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP is presented.The ZMP model of the wheel-based humanoid robot is built using the iterative ZMP computational method.The simplified ZMP computational equation of the wheel-based humanoid robot is given.The dynamic stability criterion and the stability degree of the humanoid robot are defined in the last part.

国家十五“863”计划项目(2001AA422170)