中山大学学报（自然科学版）2016，Vol.55Issue(5)：14-20,7.DOI:10.13471/j.cnki.acta.snus.2016.05.003
仿人服务机器人的平衡控制
Balance control of a humanoid service robot Balance control of a humanoid service robot
摘要
Abstract
The dynamic characteristics of humanoid robot are complex,coupled and nonlinear.There-fore,the balance control for humanoid robot is significant in research.The research of an intelligent hu-manoid service robot system is presented.Firstly,the intelligent biped humanoid robot (HUBO)is used as a test platform to analyze its balance system and gait generation based on ZMP algorithm in different situations.The control methods are also analyzed to ensure the walking balance for the HUBO.Then,u-sing Simulink,the balance control performance is verified via simulations.Finally,the system parameters are analyzed through the simulation results to guarantee a better performance for gait balance control.关键词
仿人机器人/平衡控制/ZMP 算法/步态规划Key words
humanoid robot/balance control/ZMP algorithm/gait planning分类
信息技术与安全科学引用本文复制引用
张爽,邬依林,葛伟亮,蓝恺..仿人服务机器人的平衡控制[J].中山大学学报（自然科学版）,2016,55(5):14-20,7.基金项目
国家自然科学基金资助项目（614303063）；中央高校基本科研业务费资助项目（ZYGX2015J120）；广东第二师范学院教授博士科研专项经费资助项目（2014ARF25）；广东省科技计划资助项目（2016A010106007，2014A090906010）；广东省应用型科技研发专项资金资助项目 （）
