| 用Zero Moment Point描述类人型机器人步行稳定的不完善性探讨 |
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| 引用本文： | 包志军,马培荪,王春雨,王建滨,姜山. 用Zero Moment Point描述类人型机器人步行稳定的不完善性探讨[J]. 上海交通大学学报, 2001, 35(1): 68-71 |
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| 作者姓名： | 包志军 马培荪 王春雨 王建滨 姜山 |
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| 作者单位： | 上海交通大学机械工程学院, |
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| 摘 要： | 提出了用传统的Zero Moment Point(ZMP)点描述类人型机器人运动稳定性仅仅是其运动稳定的必要条件，而从受力平衡的角度考虑，其运动的充分条件必须满足踝关节扭矩的平衡，也就是满足摩擦圆半径的要求。
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| 关 键 词： | 类人型机器人 摩擦圆半径 运动稳定性 踝关节扭矩 受力平衡 ZEROMOMENTPOINT 步行稳定 |
| 文章编号： | 1006-2467(2001)01-0068-04 |
| 修稿时间： | 2000-02-16 |
Exploration on Faultinessof Zero Moment Point (ZMP)Stable Region for Biped Locomotion |
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| BAO Zhi-jun,MA Pei-sun,WANG Chun-Yu,WANG Jian-bin,JIANG Shan. Exploration on Faultinessof Zero Moment Point (ZMP)Stable Region for Biped Locomotion[J]. Journal of Shanghai Jiaotong University, 2001, 35(1): 68-71 |
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| Authors: | BAO Zhi-jun MA Pei-sun WANG Chun-Yu WANG Jian-bin JIANG Shan |
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| Abstract: | The ZMP(zero moment point) is not enough to depict the stability for biped robot as it is just an essential factor for the stability neglecting the balance of ankle torque. Concerning about the ankle torque, the expression of friction circle factor was deduced. It is concluded that the stable region meeting ZMP and friction circle is the sufficient and necessary condition for the stability of biped robot. |
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| Keywords: | humanoid robot stability friction circ |
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