| 虚拟线性倒立摆模型在行走机器人双腿支撑相中的应用 |
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| 引用本文： | 冯帅,马州,周珂,孙增圻.虚拟线性倒立摆模型在行走机器人双腿支撑相中的应用[J].清华大学学报(自然科学版),2011(7):960-965. |
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| 作者姓名： | 冯帅 马州 周珂 孙增圻 |
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| 作者单位： | 清华大学计算机科学与技术系清华信息科学与技术国家实验室智能技术与系统国家重点实验室;北京科技大学信息工程学院工程训练中心 |
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| 摘 要： | 为了提高双足机器人步行运动的稳定性,将双腿支撑阶段的机器人简化为一个虚拟的线性倒立摆模型。该模型以机器人运动的ZMP(zero moment point)为虚拟支点,以机器人质心为模型的质点;在运动中保持质点高度不变。通过预先设定ZMP的轨迹,即可获得机器人质心在双腿支撑阶段的运动轨迹。将该模型与机器人单腿支撑阶段的普通线性倒立摆模型综合运用,就能保证步行时机器人质心速度变化的连续性和步行运动的稳定性。该方法在实际机器人上进行了实验验证,结果表明该方法能够很好地适用于实际机器人的步行运动。
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| 关 键 词： | 双足机器人 步行 线性倒立摆模型 零力矩点 双腿支撑相 |
Virtual linear inverted pendulum model for biped walking during the double stance phase |
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| FENG Shuai,MA Zhou,ZHOU Ke,SUN Zengqi.Virtual linear inverted pendulum model for biped walking during the double stance phase[J].Journal of Tsinghua University(Science and Technology),2011(7):960-965. |
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| Authors: | FENG Shuai MA Zhou ZHOU Ke SUN Zengqi |
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| Institution: | 1(1.State Key Laboratory on Intelligent Technology and Systems,Tsinghua National Laboratory for Information Science and Technology,Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China;2.Engineering Training Center,School of Information Engineering,University of Science and Technology Beijing,Beijing 100083,China) |
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| Abstract: | A virtual linear inverted pendulum model(VLIPM) was developed to improve the stability of the biped walking during the double stance phase.The supporting point of the VLIPM is the robot’s zero moment point(ZMP),the point mass of the VLIPM is the center of mass(COM) of the biped robot,and the height of the point mass is kept constant.The ZMP trajectory is designed to control the trajectory of the robot’s COM during the double stance phase.The VLIPM and the linear inverted pendulum model(LIPM) which is a simplified model of the biped robot during the single stance phase are combined to ensure the smoothness of the COM’s velocity and the walking stability.This method has been applied to an actual biped robot to show that this method is suitable for practical applications. |
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| Keywords: | biped robot walking linear inverted pendulum model(LIPM) zero moment point(ZMP) double stance phase |
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