The distance between the ZMP(zero moment point) and the center of the supporting region was defined as instability capacity,and the instability capacities of several typical walking patterns were analyzed.
将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,分析了仿人型机器人行走过程中几种典型步态的不稳定度,同时提出了基于不稳定度的仿人型机器人步态规划的方法。
And the chosen basic variables can reflect the motion state of humanoid robots, including ZMP, Center of Gravity (CoG), Center of Coxa (CoC), foot position and rotational matrices between some key frames.
该基本变量集包含零力矩点、仿人机器人重心(CoG)、髋部中心(CoC)、脚掌位置及相关关键姿态关系,所提方法结合仿人机器人动力学约束和物理约束,给出了关键变量集的规划和计算方法。
Furthermore,based on the ZMP theory,the structure and gait optimization method were integrated to modify the gait locomotion.
进一步基于零力矩点理论,提出了一种综合机构修正和步态修正方法的步态规划集成优化策略。
The relationship between Fictitious Zero-Moment Point(FZMP) and support polygon is described,and then a new control optimization strategy based on FZMP is presented.
论文首先讨论了虚拟零力矩点与支撑多边形的位置关系,然后提出了一种基于虚拟零力矩点的优化控制策略,最后采用遗传算法对步态进行优化,仿真结果表明能够提高机器人步态规划的实时性。
Last,the equation and the algorithm are provided to estimate them with zero-torque method.
首先由加速度计坐标系定义平台坐标系,只需三个误差角完全表示该误差;然后优选三个特殊位置进行标定;最后给出了采用零力矩法估计它们的公式和算法。
A physics variable in research on biped robot-Zero Moment Point(ZMP) was introduced.
引入双足机器人研究中一个重要物理量——零力矩点ZMP(Zero Moment Point),研究其计算和测量方法,利用其分析双足机器人在单腿和双腿支撑时的作用范围,最后在二维和三维平面内对机器人的ZMP计算进行探讨,为稳定步态的设计做了理论铺垫。