电子科技2025，Vol.38Issue(8)：87-93,7.DOI:10.16180/j.cnki.issn1007-7820.2025.08.012
基于角动量的双足机器人稳定行走规划
Research on Stable Walking Planning of Biped Robot Based on Angular Momentum
摘要
Abstract
In view of the problem of stable walking of biped robot,the telescopic leg lateral split structure is de-signed to reduce the number of motors and the mass of the body.The LIP(Linear Inverted Pendulum)control model based on angular momentum prediction is introduced to improve the robot stability and dynamic response ability,and the modeling accuracy is improved by considering the moment of inertia of the center of mass.Compared with the tra-ditional centroid linear velocity control model,the proposed model performs better in stability and dynamic response ability.The simulation results show that the angular momentum prediction model considering the moment of inertia can make the robot cope with the ground disturbance stably.It not only significantly improves the stability and dy-namic response ability of the biped robot,but also does not need to increase the number of motors and body quality.The proposed model not only provides a new idea for gait optimization of biped robots,but also provides a new way for gait control of biped robots with telescopic legs.关键词
双足机器人/伸缩腿/角动量/落脚点/转动惯量/行走控制/步态控制/线性倒立摆Key words
bipedal robot/telescopic legs/angular momentum/foot landing point/rotational inertia/walking con-trol/gait control/linear inverted pendulum分类
信息技术与安全科学引用本文复制引用
许文琼,杨芳艳,李清都..基于角动量的双足机器人稳定行走规划[J].电子科技,2025,38(8):87-93,7.基金项目
国家自然科学基金(92048205) （92048205）
东方学者计划(TP2019064) National Natural Science Foundation of China(92048205) （TP2019064）
Oriental Scholars Program(TP2019064) （TP2019064）
