China Mechanical Engineering ›› 2008, Vol. 19 ›› Issue (24): 2908-2911.
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Da Lin;Fang Yuefa;Huai Chuangfeng
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达林;方跃法;槐创锋
Abstract:
This paper designed a variable structure trajectory tracking controller for biped walking robot system.The ZMP equation and sensed ZMP information were used in this trajectory generation strategy.The real-time trajectory planner generated the trajectory of the base link in the vertical direction to compensate the required moment for recovering stability and gained modified ZMP trajectory finally.Computer simulation with a 12 DOF biped robot tested the proposed optimization method.The simulations indicate the robusticity and applicability of the method in real implementation.
Key words: biped robot, system vibration, ZMP(zero moment point), variable structure contro
摘要:
针对双足机器人系统,设计了一种变结构轨迹跟踪控制器。基于双足机器人系统ZMP(zero moment point)方程和实际ZMP信息,提出一种ZMP补偿优化方法,通过在线实时调整机器人躯体重心竖直方向上的位置来补偿回复稳定姿态所必需的力矩,最终产生修正的ZMP轨迹。12自由度的双足机器人动力学仿真验证了所提出优化方法的鲁棒性和适用性,而且机器人能在一定范围外力的干扰下回复稳定姿态步行。
关键词: 双足机器人, 系统抖振, ZMP, 变结构控制
CLC Number:
TP242
Da Lin, Fang Yuefa, Huai Chuangfeng. ZMP Compensation Optimization of Variable Structure Controller for Biped #br# Robots[J]. China Mechanical Engineering, 2008, 19(24): 2908-2911.
达林, 方跃法, 槐创锋, . 一种双足机器人变结构控制的ZMP补偿优化方法[J]. 中国机械工程, 2008, 19(24): 2908-2911.
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