刘德全, 杨基厚. 踏步式两足步行机构运动稳定性的研究[J]. 机器人, 1992, 14(2): 41-44,57.
引用本文: 刘德全, 杨基厚. 踏步式两足步行机构运动稳定性的研究[J]. 机器人, 1992, 14(2): 41-44,57.
LIU Dequan, YANG Jihou. RESEARCH ON THE MOVING STABILITY OF A TWO-LEGGED WALKING MECHANISM[J]. ROBOT, 1992, 14(2): 41-44,57.
Citation: LIU Dequan, YANG Jihou. RESEARCH ON THE MOVING STABILITY OF A TWO-LEGGED WALKING MECHANISM[J]. ROBOT, 1992, 14(2): 41-44,57.

踏步式两足步行机构运动稳定性的研究

RESEARCH ON THE MOVING STABILITY OF A TWO-LEGGED WALKING MECHANISM

  • 摘要: 本文通过分析下支撑物体的平衡状态将人体运动区分为稳定平衡状态和不稳定平衡状态,为踏步式两足步行机构的稳定步态分析奠定了理论基础.运用多刚体动力学方法对未加平衡措施的模型机构的ZMP点进行计算,分析了其运动稳定性,提出了斜面脚板和摆头机构相结合的双重平衡方法,得到了机构能够稳定动作的步态,并通过实验得以验证.

     

    Abstract: In this paper,the human bodys movement is divided in to the stable equlibrium state and the unstable equlib rium state by analyzing the equlibrium states of object on the bottom.It is the theoretical basis foranalyzing the stable gaits of the two-legged mechanism.Using Multi-Rigid-Dynamics method,theZMP(Zero Moment Point) of the model is calculated without balancing,and its moving stability is analyzed.A double balancing method of the inclined foot and swing head mechanism is adopted,and the stablemoving gaits are obtained.The result has been verified by experiments.

     

/

返回文章
返回