摘要
步行环境不理想、外力扰动等因素导致仿人机器人步行时ZMP出现误差,从而影响机器人的步行稳定性.由于机器人的各关节角度都对ZMP有影响,若只校正支撑腿的踝关节或髋关节等单个关节角度,则难以达到理想的步行控制效果,因此,本文综合考虑各关节角度对ZMP的影响,先通过模糊控制器基于ZMP误差给出机器人的质心位置增量,再利用二次规划方法和质心的雅可比矩阵求解出满足该质心位置增量的各关节角度校正量.仿真实验表明,本文方法较好地跟踪了期望ZMP,提高了步行稳定裕度,使仿人机器人实现了稳定的步行.
Both undesirable walking environment and external perturbations will cause the ZMP（zero moment point） error and affect the walking stability of the humanoid robot.Since ZMP is affected by angles of all robot joints,it is difficult to achieve good walking-control performance if only correcting the ankle or hip angles of the support leg.Therefore,considering the influence of all joint angles on ZMP,the way to calculate the CoM（center of mass） position displacement of robot is studied by fuzzy controller based on ZMP error.Then angle corrections of all joints to match the CoM position displacement are computed by using quadratic programming and CoM Jacobian matrix.The simulation results show that by this method,the desired ZMP trajectory can be tracked very well,and the walking stability margin is improved,which helps the humanoid robot walk stably.
出处
《机器人》
EI
CSCD
北大核心
2013年第1期39-44,共6页
Robot
基金
广东省自然科学基金自由申请项目(S2011010004006)
关键词
仿人机器人
步行控制
ZMP误差
关节角度校正
二次规划
humanoid robot
walking control
ZMP（zero moment point） error
joint angle correction
quadratic programming
