计算机工程与应用 ›› 2011, Vol. 47 ›› Issue (11): 211-214.

• 工程与应用 • 上一篇    下一篇

双足机器人预观控制的ZMP补偿步行模式研究

敬成林,李祖枢,薛方正   

  1. 重庆大学 智能自动化研究所,重庆 400044
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2011-04-11 发布日期:2011-04-11

Biped walking pattern generation based on preview control of ZMP compensation

JING Chenglin,LI Zushu,XUE Fangzheng   

  1. Institute of Intelligent Automation,Chongqing University,Chongqing 400044,China
  • Received:1900-01-01 Revised:1900-01-01 Online:2011-04-11 Published:2011-04-11

摘要: 针对双足机器人的稳定行走,提出了一种预观控制的零力距点(ZMP)补偿步行模式在线生成方法。利用实际ZMP与目标ZMP之间的未来误差信息,基于预观控制计算机器人行走过程中质心的补偿量,事先调整质心轨迹来改变步态。最终使实际ZMP更好地跟踪目标值。12自由度的双足机器人动力学仿真验证了所提出方法的有效性,而且机器人能在一定程度不平整地面上实现稳定行走。

关键词: 双足机器人, 预观控制, 零力距点补偿, 步行模式

Abstract: A method of on-line walking pattern generation based on preview control of the Zero-Moment Point(ZMP) compensation is presented.A preview controller can be used to calculate the compensation of the Center of Mass(CoM) by the future error between the practice ZMP and the reference ZMP.The CoM trajectory is adjusted in advance to change the gait.Ultimately ZMP tracking error is small enough.A stabilization walking control on uneven terrain is simulated with a 12 DOF biped robot.The simulation results verify the effectiveness of the proposed method.

Key words: biped robot, preview control, Zero-Moment Point(ZMP) compensation, walking pattern