A New Method of Desired Gait Synthesis for Biped Walking Robot Based on Ground Reaction Force

被引：0
|
作者：
张永学
机构：
来源：
High Technology Letters | 2000年 / 04期
关键词：
Biped walking robot; Desired gait synthesis; ZMP; Ground reaction force; Fuzzy logic;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.
引用
收藏
页码：33 / 38
页数：6
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