Slide modeling and detecting analysis for humanoid robots

被引：0
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作者：
Yu, Leibin
Cao, Qixin
Qiu, Changwu
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来源：
Gaojishu Tongxin/Chinese High Technology Letters | 2008年 / 18卷 / 02期
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摘要：
To solve the problem of foot sliding of humanoid robot when its walking stability is controlled with the zero moment point (ZMP) or center of pressure (COP) detecting approaches, a slide detecting approach based on COP detecting is put forward, and its mathematical model is built and analyzed. The simulation of the humanoid robot MechG based on the COP detecting approach shows that a stable sub-zone of COP without slide can be obtained, by which the stability of humanoid robots can be increased.
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页码：147 / 150
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