摘要
以ＰＩＤ控制为基础，提出了一种适应于两足步行机器人计算机控制系统的设计方法，并对一些相关问题进行了讨论．本文提出的这种设计方法已被成功地应用于ＮＡＩＷＲ－１两足步行机器人．实践证明，它对控制两足步行机器人的稳定行走是有效和可行的．
Based on PID control， a design method of computer control system suitable for bipedRobots is proposed in this paper．Firstly，the general structure of the computer control sys-tem is described．Then，the design of the feedback control system of single joint and the de-termination of its PID digital controller parameters are metioned in detail Finally，somequestions relative to the control system are discussed．The design method has been used suc-cessfully for NAIWR-1 biped Robot，and the experiment result has proved that it is effectiveand feasible for controlling the stable walking of biped Robots．
基金
国家教委博士点科研基金
