| 两足机器人质量分布与步行稳定性及效率关系研究 |
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| 引用本文： | 曹曦,赵群飞,马培荪.两足机器人质量分布与步行稳定性及效率关系研究[J].上海理工大学学报(社会科学版),2006,28(6):577-582. |
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| 作者姓名： | 曹曦 赵群飞 马培荪 |
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| 作者单位： | 上海交通大学机械与动力工程学院 上海200030(曹曦，马培荪)，上海交通大学电子信息与电气工程学院 上海200030(赵群飞) |
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| 摘 要： | 研究两足机器人质量分布对步行ZMP(zero moment point)稳定阈度及步行效率的影响.采用稳定的参数化步态,在步态不变的情况下,改变机器人各连杆的质量分布,观察其对ZMP稳定阈度及步行效率的影响.仿真实验结果表明,合理选择大腿、小腿和上身的质量分布可以显著增加ZMP稳定阈度和步行效率.
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| 关 键 词： | 两足机器人 稳定阈度 步行效率 质量分布 |
Stability analysis of biped robot gait in consideration of its mass distribution |
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| CAO Xi,ZHAO Qun-fei,MA Pei-sun.Stability analysis of biped robot gait in consideration of its mass distribution[J].Journal of University of Shanghai For Science and Technilogy(Social Science),2006,28(6):577-582. |
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| Authors: | CAO Xi ZHAO Qun-fei MA Pei-sun |
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| Institution: | 1. Schoo/of Mechanical Engineering, Shanghai Jiaotong Unizersity, Shanghai 200030, China ; 2. School of Electronic, Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200030, China |
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| Abstract: | The influences of biped robot mass distribution on gait stability and walking efficiency are analyzed.Adopting a stable parameterized gait,the ZMP stability threshold and walking efficiency are evaluated with different mass distributions.Simulation results show that properly selecting mass distribution of thigh,shin and trunk can increase ZMP stability threshold and walking efficiency greatly. |
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| Keywords: | biped robot stability threshold walking efficiency mass distribution |
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