计算机工程与应用2009，Vol.45Issue(33)：4-7,18,5.DOI:10.3778/j.issn.1002-8331.2009.33.002
仿人机器人动态步行控制综述
Survey on dynamic walking control of humanoid robot
摘要
Abstract
This paper surveys the history and current research on dynamic walking control of humanoid robot.The characteristics of dynamic walking are summarized and the stability criteria of dynamic walking are also analyzed.Posture stability criterion based on ZMP(Zero Moment Point) and gait stability criterion based on Poincaré map are introduced.The learning methods and adaptation capabilities of dynamic walking on a complex terrain are presented and the typical solutions of dynamic walking con-trol are reviewed.Several problems of dynamic walking control which need to be solved are listed and the development directions are presented.关键词
仿人机器人/动态步行/稳定性/控制策略Key words
humanoid robot/dynamic walking/stability/control strategy分类
信息技术与安全科学引用本文复制引用
刘成军,李祖枢,薛方正..仿人机器人动态步行控制综述[J].计算机工程与应用,2009,45(33):4-7,18,5.基金项目
国家自然科学基金(the National Natural Science Foundation of China under Grant No.60574076) （the National Natural Science Foundation of China under Grant No.60574076）
高等院校博士学科点专项科研基金(the China Specialized Research Fund for the Doctoral Program of Higher Education under Grant No.20070611018). （the China Specialized Research Fund for the Doctoral Program of Higher Education under Grant No.20070611018）
