| 基于ZMP的双足机器人稳定性分析 |
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| 引用本文： | 常江.基于ZMP的双足机器人稳定性分析[J].佳木斯大学学报,2009,27(1). |
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| 作者姓名： | 常江 |
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| 作者单位： | 佳木斯大学机械工程学院,黑龙江佳木斯,154007;哈尔滨工程大学机电工程学院,黑龙江哈尔滨,150001
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| 摘 要： | 引入双足机器人研究中一个重要物理量--零力矩点ZMP(Zero Moment Point),研究其计算和测量方法,利用其分析双足机器人在单腿和双腿支撑时的作用范围,最后在二维和三维平面内对机器人的ZMP计算进行探讨,为稳定步态的设计做了理论铺垫.
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| 关 键 词： | 双足机器人 零力矩点ZMP 稳定性 |
Analysis on Stability of Biped Robot Based on ZMP |
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| CHANG Jiang.Analysis on Stability of Biped Robot Based on ZMP[J].Journal of Jiamusi University(Natural Science Edition),2009,27(1). |
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| Authors: | CHANG Jiang |
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| Institution: | 1.College of Mechanical Engineering;Jiamusi University;Jiamusi 154007;China;2.School of Mechanical and Electronic Engineering;Harbin Engineering University;Harbin 150001;China |
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| Abstract: | A physics variable in research on biped robot-Zero Moment Point(ZMP) was introduced.Its account and measure methods were researched.Biped robot's action area was analyzed while it was sustained with single leg or double legs.In the end the account of biped robot's ZMP in planar and three dimensional plane was discussed. |
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| Keywords: | biped robot Zero Moment Point stability |
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