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. ROBOT, 2004, 26(3): 259-262..
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.
[1] 伍科布拉托维奇.马培荪,沈乃熏.步行机器人和动力型假肢[M].北京:科学出版社,1983. [2] Li Q H, Takanishi A, et al. A biped walking robot having a ZMP measurement system using universal force-moment sensors[A]. Proceedings of the IEEE/RSJ International Workshop on Robots and Intelligent Systems[C]. Osaka: IEEE,1991.1568-1573. [3] Hirai K, Hirose M, et al. The development of Honda humanoid robot [A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Leuven: 1998.1321-1326. [4] 刘莉,王劲松,陈恳,等.基于六维力力矩传感器的拟人机器人实际ZMP检测[J].机器人,2001,23(5):459-466. [5] Erbatur K, Okazaki A, et al. A study on the zero moment point measurement for biped walking robots[J]. Proceedings of the 7th International Workshop on Advanced Motion Control[C]. Maribor:2002.431-436. [6] Dagupta A Y, Nakamura Y. Making feasible walking motion of humanoid robots from human motion capture data[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C].Detroit:1999.1044-1049. [7] 钱敏,卞亦文,吴仲城.基于CAN总线的多维力测力平台阵列的设计[A].第八届全国敏感元件与传感器学术会议[C].北京:2003.446-452
