机器人2012，Vol.34Issue(4)：498-504,7.DOI:10.3724/SP.J.1218.2012.00498
基于双臂摆动的仿人机器人偏摆力矩矫正方法
A Yaw Moment Counteracting Method for Humanoid Robot Based on Arms Swinging
摘要
Abstract
In view of the problems of unstable walking and even falling down caused by the yaw moment around zero moment point (ZMP) when the humanoid robot walks, a method for counteracting the yaw moment based on arms swinging is proposed. The cause of the yaw moment and its effect on the robot walking stability are analyzed. According to the link model of humanoid robot and the single pendulum model of arm swinging, the expression of moment generated by arms swinging is deduced, and the principle of counteracting yaw moment with the arms swinging moment is formulated by using the illustration of arms swinging. With the adoption of cubic spline interpolation, the parametric angle trajectories of arms swinging are planned. Through the exhaustive search algorithm, the angle parameters are traversed to guarantee the yaw moment to be mostly counteracted by the arms swinging moment. The simulation result verifies that the method can not only counteract the yaw moment greatly to ensure walking stability of the humanoid robot, but also guarantee the monotonicity, the smoothness and the periodicity of the angle trajectories of arms swinging.关键词
仿人机器人/偏摆力矩/双臀摆动/力矩矫正/零力矩点(ZMP)Key words
humanoid robot/ yaw moment/ arms swinging/ moment counteracting/ zero moment point (ZMP)分类
信息技术与安全科学引用本文复制引用
付根平,陈建平,杨宜民..基于双臂摆动的仿人机器人偏摆力矩矫正方法[J].机器人,2012,34(4):498-504,7.基金项目
广东省自然科学基金自由申请项目(S2011010004006). （S2011010004006）
