计算机工程与应用2011，Vol.47Issue(25)：231-234,4.DOI:10.3778/j.issn.1002-8331.2011.25.061
基于全身协调的仿人机器人步行稳定控制
Stable walking control in whole body coordination framework for biped humanoid robot
胡金东 1刘国栋1
作者信息
- 1. 江南大学通信与控制工程学院,江苏无锡214122
- 折叠
摘要
Abstract
This paper introduces a framework for whole-body motion generation in the motion embedded CoM (Center of Mass) Jacobian framework.The walking pattern is generated using the simplified model for bipedal robot;this paper analyzes the kinematic resolution of CoM Jacobian;CoM/ZMP controller, damping controller, and soft landing controller are applied to real-time control biped walking; the effectiveness of the proposed kinematic resolution method and walking controller is shown through experiments of humanoid robot AFU09 biped walking.关键词
仿人机器人/全身协调/质心雅可比/稳定控制Key words
humanoid robot/whole body coordination/CoM Jacobian/stable control分类
信息技术与安全科学引用本文复制引用
胡金东,刘国栋..基于全身协调的仿人机器人步行稳定控制[J].计算机工程与应用,2011,47(25):231-234,4.
