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步行环境不理想、外力扰动等因素导致仿人机器人步行时ZMP出现误差,从而影响机器人的步行稳定性.由于机器人的各关节角度都对ZMP有影响,若只校正支撑腿的踝关节或髋关节等单个关节角度,则难以达到理想的步行控制效果,因此,本文综合考虑各关节角度对ZMP的影响,先通过模糊控制器基于ZMP误差给出机器人的质心位置增量,再利用二次规划方法和质心的雅可比矩阵求解出满足该质心位置增量的各关节角度校正量.仿真实验表明,本文方法较好地跟踪了期望ZMP,提高了步行稳定裕度,使仿人机器人实现了稳定的步行.
Walking environment is not ideal, external disturbances and other factors lead to humanoid robot walking ZMP error, thus affecting the robot’s walking stability.As the robot’s joints have an impact on the ZMP, if only to correct the support leg ankle or hip joint And so on, it is difficult to achieve the desired effect of walking control. Therefore, this paper comprehensively considers the influence of joint angles on ZMP. Firstly, based on the ZMP error of fuzzy controller, the increment of centroid position of the robot is given, and then the quadratic programming method And the Jacobian matrix of the centroid to solve the angular correction of each joint that satisfies the incremental position of the centroid.The simulation results show that the proposed method can track the desired ZMP and improve the stability of walking stability and make the humanoid robot stable walk.