| 仿人机器人行走稳定性分析 |
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| 引用本文： | 肖乐,常晋义,殷晨波.仿人机器人行走稳定性分析[J].常熟理工学院学报,2011,25(2):109-112. |
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| 作者姓名： | 肖乐 常晋义 殷晨波 |
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| 作者单位： | 常熟理工学院计算机科学与工程学院;南京工业大学机械与动力工程学院; |
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| 摘 要： | 提出了基于虚拟零力矩点FZMP的在线仿人机器人稳定行走控制方法,以机械系统动力学分析软件ADAMS为基础,建立仿人机器人虚拟样机模型.开发了用于仿人机器人行走仿真的平台,实现了仿人机器人参数化建模,完成了基于虚拟样机技术的仿真.
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| 关 键 词： | 仿人机器人 虚拟零力矩点 行走稳定性 虚拟样机 |
Research on the Stability of a Humanoid Robot Based on FZMP |
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| XIAO Le,CHANG Jin-yi,YIN Chen-bo.Research on the Stability of a Humanoid Robot Based on FZMP[J].Journal of Changshu Institute of Technology,2011,25(2):109-112. |
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| Authors: | XIAO Le CHANG Jin-yi YIN Chen-bo |
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| Institution: | XIAO Le1,CHANG Jin-yi1,YIN Chen-bo2(1.School of Computer Science and Engineering,Changshu Institute of Technology,Changshu 215500,China,2.School of Mechanical and Power Engineering,Nanjing University of Technology,Nanjing 210009,China) |
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| Abstract: | By introducing a concept of Fictitious Zero-Moment Point,the stability control methods ware was proposed based on FZMP control.The parameterize modeling of humanoid robot was realized and the simulation was based on ADAMS and virtual prototyping technology was accomplished.The parameterize modeling of humanoid robot was realized and the simulation based on virtual prototyping technology was accomplished. |
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| Keywords: | humanoid robot FZMP walking stability virtual prototype |
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