Effect of Motion Parameters on the ZMP of Biped Walking Robot in the Single-leg Support Phase

WU Li-qin; WU Jia-qi; KE Xian-xin

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Effect of Motion Parameters on the ZMP of Biped Walking Robot in the Single-leg Support Phase

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- Effect of Motion Parameters on the ZMP of Biped Walking Robot in the Single-leg Support Phase
- Optics and Precision Engineering Vol. 9, Issue 6, Pages: 548-552(2001)
- 作者机构：
  
  上海大学机电工程与自动化学院, 上海, 200072
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Received：20 August 2001，
  
  Revised：27 September 2001，
  
  Published Online：15 December 2001，
  
  Published：15 December 2001
- 稿件说明：
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吴立勤, 吴家麒, 柯显信. 两足机器人步行运动参数对单足支撑期ZMP点影响的研究[J]. 光学精密工程, 2001,(6): 548-552

WU Li-qin, WU Jia-qi, KE Xian-xin . Effect of Motion Parameters on the ZMP of Biped Walking Robot in the Single-leg Support Phase[J]. Editorial Office of Optics and Precision Engineering, 2001,(6): 548-552
吴立勤, 吴家麒, 柯显信. 两足机器人步行运动参数对单足支撑期ZMP点影响的研究[J]. 光学精密工程, 2001,(6): 548-552 DOI：

WU Li-qin, WU Jia-qi, KE Xian-xin . Effect of Motion Parameters on the ZMP of Biped Walking Robot in the Single-leg Support Phase[J]. Editorial Office of Optics and Precision Engineering, 2001,(6): 548-552 DOI：

摘要

在两足步行机器人的研究中

一般将零力矩点(ZMP点)的位置与支撑范围的关系作为判别其步行稳定性的依据.提出一种通用的方法

来分析两足机器人的步行运动参数对ZMP点位置的影响

并通过对机器人单足支撑期运动的计算机仿真

试图得到步行运动参数的变化对稳定性影响的规律

以期对机器人动态步行的稳定性设计提供实用的参考.

Abstract

In the research on biped walking robots

the authors usually judge the walking stability from the relation ship between the position of the ZMP and the support area. The paper provides a general method to analyze the effect of robot walking motion parameters on the position of ZMP

and also attempts to find a variational trend of the scope of the ZMP when walking motion parameters are changed by means of computer simulation. Our objective is to provide a useful reference to the stability design of robot dynamic walking. Finally

some experimental results are discussed.

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Keywords

references

龚振邦,汪勤悫,等.机器人机械设计[M].北京:电子工业出版社,1995.

Hirai Kazuo,et al. Humanoid robot and its application[A].IARP First International Workshop on Humanoid and Human Friendly Robotics[C].1998,10,1-4.

竺长安. 两足步行机器人系统分析、设计与运动控制[D].国防科技大学,1993.

李元宗,王学信. 双足机器人动态步行稳定的判据[J].固体力学学报,1992,13(4):17-21

赵永生,杜永辉,赵铁石,等.步行机动力学操作性的研究及机构参数的优化[J].光学精密工程,1998,6(1):75-80.

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