钱敏, 吴仲城, 申飞, 戈瑜. 基于测力平台阵列的双足步行机器人实际零力矩点检测[J]. 机器人, 2004, 26(3): 259-262.
引用本文: 钱敏, 吴仲城, 申飞, 戈瑜. 基于测力平台阵列的双足步行机器人实际零力矩点检测[J]. 机器人, 2004, 26(3): 259-262.
QIAN Min, WU Zhong-cheng, SHEN Fei, GE Yu. The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System[J]. ROBOT, 2004, 26(3): 259-262.
Citation: QIAN Min, WU Zhong-cheng, SHEN Fei, GE Yu. The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System[J]. ROBOT, 2004, 26(3): 259-262.

基于测力平台阵列的双足步行机器人实际零力矩点检测

The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System

  • 摘要: 提出一种多维力测力平台阵列系统,通过机器人行走过程中脚部与平台接触力的测量,并根据Vukobratovic关于ZMP的定义,得到机器人行走过程的ZMP实际轨迹信息,为双足步行机器人的稳态行走步态规划提供参考依据.更进一步,该系统也可以用作双足步行机器人行走过程步态规划的实验平台.

     

    Abstract: In this paper, a multi-dimensional force plate array is presented and the ground reaction forces are examined. The ZMP trajectory of human subject is precisely calculated based on the Vukobratovic's ZMP definition and is a significant reference for the stability control of humanoid robot. Furthermore, the system can be used to measure the actual ZMP trajectory of a biped walking robot.

     

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