基于虚拟零力矩点FZMP的拟人机器人行走稳定性仿真_殷晨波基于虚拟零力矩点FZMP的拟人机器人行走稳定性仿真_殷晨波.pdf

第 18 卷第 9 期 系 统 仿 真 学 报? Vol. 18 No. 9 2006年9 月 Journal of System Simulation Sept., 2006 基于虚拟零力矩点 FZMP 的拟人机器人行走稳定性仿真 殷晨波 1，周庆敏 2，徐海涵 1，杨 敏 1 （1.南京工业大学机械与动力工程学院，江苏 南京 210009；2.南京工业大学信息科学与工程学院，江苏 南京 210009） 摘 要：给出了一个考虑外界干扰的拟人机器人整体模型的稳定性分析。通过引入虚拟零力矩点 （FZMP）概念，提出了受到干扰的情况下维持拟人机器人的行走稳定性仿真方法。给出了支撑多 边形的计算机表达方法和失稳时旋转边界自动确定方法。为了在不同的情况下保持平衡，提出了 包括步幅、手的支撑和身体重心调整三种新的控制措施。仿真实例表明所提出方法的正确可行性。 关键词：拟人机器人；稳定性仿真；步态规划；ZMP；优化 中图分类号：TP391.9 文献标识码：A 文章编号：1004-731X (2006) 09-2593-05 Stability Simulation of a Humanoid Robot with Fictitious Zero-Moment Point YIN Chen-bo1, ZHOU Qing-min2, XU Hai-han1, YANG Min1 (1.College of Mechanical and Power Engineering, Nanjing University of Technology, Nanjing 210009, China; 2. College of Information Science and Engineer, Nanjing University of Technology, Nanjing 210009, China) Abstract: A model of stable analysis of a humanoid robot was given, in which the different environments were considered. By introducing a concept of fictitious zero-moment point (FZMP), a method to maintain the whole body stability of robot under disturbance was proposed. The support polygon and the rotation edge in the case of losing balance were determined by means of simulation. In order to maintain stability in different environments, a new control strategy was proposed including the adjustment of the support polygon, the push or pull support of hand with environment and the movement of upper robot body. The feasibility of the proposed method was demonstrated t