| 复杂环境下仿人机器人有效支撑区域的感知 |
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| 引用本文： | 任阳,吴宝元,申飞,吴仲城,钱昌忠. 复杂环境下仿人机器人有效支撑区域的感知[J]. 自动化与仪表, 2010, 25(10) |
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| 作者姓名： | 任阳 吴宝元 申飞 吴仲城 钱昌忠 |
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| 作者单位： | 中国科学院合肥智能机械研究所;中国科学技术大学自动化系;中国科学院强磁场科学中心; |
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| 基金项目： | 国家高技术研究发展计划(863计划)面上项目，国家高技术研究发展计划(863计划)重点项目 |
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| 摘 要： | 当主流的仿人机器人都采ZMP(zero moment point)理论作为稳定行走的判据.实时ZMP点落在支撑足与地面接触形成的多边形支撑区域内是仿人机器人实现稳定步行的必要条件.因此实现仿人机器人在复杂现实环境中稳定行走,必须要求机器人足部感知系统提供足够丰富的地面环境信息,从而可以准确获取支撑区域的形状以实现基于实时ZMP点的稳定控制.文中将柔性阵列力传感器应用于仿人机器人足部感知系统,提出了获取仿人机器人支撑区域形状的方法,而且通过实验验证了其可行性.
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| 关 键 词： | 柔性阵列力传感器 仿人机器人 足部感知系统 零力矩点 支撑区域 |
Perception of Effective Ground-supporting Area of Humanoid Robot in Complex Environment |
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| REN Yang,WU Bao-yuan,SHEN Fei,WU Zhong-cheng,QIAN Chang-zhong. Perception of Effective Ground-supporting Area of Humanoid Robot in Complex Environment[J]. Automation and Instrumentation, 2010, 25(10) |
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| Authors: | REN Yang WU Bao-yuan SHEN Fei WU Zhong-cheng QIAN Chang-zhong |
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| Affiliation: | REN Yang1,2,WU Bao-yuan1,SHEN Fei3,WU Zhong-cheng3,QIAN Chang-zhong1,2(1.Institute of Intelligent Machines,Chinese Academy of Sciences,Hefei 230031,China,2.Department of Automation,University of Science and Technology of China,Hefei 230026,3.High Magnetic Field Laboratory,China) |
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| Abstract: | The concept of zero moment point ZMP,as a dynamic equilibrium criterion,has been so far extensively adopted in the mainstream humanoid robots for real-time and dynamic control of stable walking or running.The necessary condition for biped walking is: real-time ZMP point of robot falls on the polygonal supporting area formed by the supporting foot contacting with ground.Therefore,to make humanoid robot walk stably in complex reality environment,the robot foot perception system should provide rich information... |
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| Keywords: | flexible force sensor array humanoid robot foot perception system zero moment point(ZMP) supporting area |
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