Measurement and Study on ZMP-CoP of the Biped Walking Robot
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摘要: ZMP（零力矩点）和CoP（压力中心）是评价双足步行机构行走稳定性的重要参数．本文在研究了ZMP和CoP两者关系的基础上，根据THBIPI仿人机器人基于ZMP理论的姿态调整要求和六维力/力矩传感器的安装位置，推导了适用于双足机器人的CoP计算公式，建立了采用六维力/力矩传感器的CoP检测系统．进行了THBIPI仿人机器人行走过程的实际CoP检测实验，并对实验结果进行了讨论．实验证明了该系统的准确性．Abstract: ZMP(Zero Moment Point) and(Center of Pressure) CoP are important criteria for the stability of the biped locomotion. In this paper, the relation between ZMP and CoP is studied. Based on the posture adjustment requirement of THBIP-I and the installation position of the 6-axis force-moment sensors, the formulae for computing CoP of a humanoid biped robot are deduced, and a CoP measurement system based on the 6-axis force-moment sensors is presented. The accuracy of this system is experimentally confirmed, and CoP is measured throughout the whole walking phase. The results of measured CoP are discussed.
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Keywords:
- biped walking robot /
- ZMP /
- CoP
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