摘要
ZMP控制理论已广泛应用于双足步行机器人的步态规划中 ,行走过程中的实际ZMP轨迹 ,是通过安装在脚部的两个多维脚力传感器获取的力 /力矩信息计算得到。文章提出并设计了一种基于CAN总线接口的双足步行机器人集成化脚力传感器 ,给出了其硬件组成及软件设计 ,并详细论述了双足步行机器人行走过程中实际ZMP轨迹的计算方法。
ZMP (Zero Moment Point) theory is widely used as a criterion in order to distinguish the stability of walking for a biped walking robot. The actual ZMP trajectory is calculated from the information measured by six-axis force/torque foot sensors mounted on the feet. An integrated intelligent foot sensor based on CAN bus is introduced. And the design of its hardware and software is explained. The formula for calculating the actual ZMP trajectory throughout the whole walking phase is presented.
出处
《传感技术学报》
CAS
CSCD
2004年第1期39-41,共3页
Chinese Journal of Sensors and Actuators
基金
国家"十五"86 3计划 (No .2 0 0 1AA4 2 3180与No .2 0 0 1AA4 2 330 0 )
安徽省自然科学基金 (No .0 10 4 2 30 3)
