计算机工程与应用 ›› 2011, Vol. 47 ›› Issue (25): 231-234.

• 工程与应用 • 上一篇    下一篇

基于全身协调的仿人机器人步行稳定控制

胡金东,刘国栋   

  1. 江南大学 通信与控制工程学院,江苏 无锡 214122
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2011-09-01 发布日期:2011-09-01

Stable walking control in whole body coordination framework for biped humanoid robot

HU Jindong,LIU Guodong   

  1. School of Communication and Control Engineering,Jiangnan University,Wuxi,Jiangsu 214122,China
  • Received:1900-01-01 Revised:1900-01-01 Online:2011-09-01 Published:2011-09-01

摘要: 提出利用机器人质心(CoM)雅克比矩阵,实现全身协调补偿的算法。提出机器人的简化模型;分析基于CoM雅克比矩阵的补偿算法;采用CoM/ZMP(零点矩点)、减振和软着陆控制器实时控制双足步行,实现机器人全身协调的稳定控制;通过仿人机器人AFU09的双足步行实验证明该控制方法的有效性。

关键词: 仿人机器人, 全身协调, 质心雅可比, 稳定控制

Abstract: This paper introduces a framework for whole-body motion generation in the motion embedded CoM(Center of Mass) Jacobian framework.The walking pattern is generated using the simplified model for bipedal robot;this paper analyzes the kinematic resolution of CoM Jacobian;CoM/ZMP controller,damping controller,and soft landing controller are applied to real-time control biped walking;the effectiveness of the proposed kinematic resolution method and walking controller is shown through experiments of humanoid robot AFU09 biped walking.

Key words: humanoid robot, whole body coordination, CoM Jacobian, stable control