两足步行椅机器人机械参数与步行稳定性关系研究

Gait Stability Analysis of Biped Walking Chair Robot Based on Its Mechanical Parameters

摘要: 研究了两足步行椅机器人的机械参数对步行ZMP（Zero Moment Point）稳定裕度的影响．采用稳定的参数化步态，在步态不变的情况下，改变机器人各连杆的质量、转动惯量和质心位置，分析其对ZMP稳定裕度的影响．通过仿真实验得到以下结论：合理选择大腿、小腿和上身的机械参数可以显著增加步行ZMP稳定裕度，从而降低伺服控制的难度．

Abstract: Influence of mechanical parameters of biped walking chair robot on ZMP(Zero Moment Point)stability margin is studied.With a stable and fixed parameterized gait,ZMP stability margin is analyzed while changing the robot links' mass,moment of inertia and CM(center of mass)position.Simulation results show that ZMP stability margin is greatly improved by properly selecting the mechanical parameters of thigh,shin and trunk,and the difficulty of servo control is decreased.