摘要
双足机器人在进行变步长步行模式行走的过程中,步长的突然改变会导致其行走不稳定。为此提出一种双足机器人步长实时变化的步行模式补偿方法。此方法中运用了时间补偿和零力矩点补偿。通过两者的补偿能够使步行模式的步长在发生变化时,在线修正双足机器人实际状态与目标状态的偏差,以保证其行走的稳定性。双足机器人AFU10的步行实验证明了该方法的有效性。
During the walking process of the walking pattern of the variable step length for biped robots,the sudden change of the step length will lead to its walking instability.This paper proposes a walking pattern compensation method of a real-time variable step length for biped robots.This method includes the time compensation and zero moment point compensation.When the step length of the walking pattern changes,online the deviation between the actual state and target state of the biped robot is coorected in order to guarantee the stability of walking.The walking experiments of robot AFU10 prove the effectiveness of the proposed method.
出处
《江南大学学报（自然科学版）》
CAS
2014年第3期292-297,共6页
Joural of Jiangnan University (Natural Science Edition)
关键词
双足机器人
步行模式
时间补偿
零力矩点
稳定性
biped robot
walking pattern
time compensation
zero moment point
stability
