双足机器人步态控制的研究方法综述.pdfVIP

计算机研究与发展 ISSN CN 111777/ TP Journal of Computer Research and Develop ment 42 (5) : 728～733 , 2005 双足机器人步态控制研究方法综述 胡凌云 　　　孙增圻 (清华大学计算机科学与技术系智能技术与系统国家重点实验室 　北京 　100084) (huly02 @mailst singhuaedu cn) Survey on Gait Control Strategies f or Biped Robot Hu Lingyun and Sun Zen gqi ( S tate Key L aboratory of I ntelligent Technology an d Sys tems , Dep art ment of Comp uter S cience an d Technology , Tsing hua Uni versity , B eij ing 100084) Abstract 　A s humanoid robot s shift from research lab to human living environment , biped robot s play a more import ant role in recent research Peoples are att racted by biped robot s for t he difficulties in gait con t rol since t heir dynamic equations are highor der highlycoupled and nonlinear This p aper p resented t he ba sic concept s in biped gait and major research met hods in t he filed of biped gait optimization and cont rol Character s of t hree major models including inverted pendulum , p assive gait model and masssp ring model are t horoughly discussed Advant ages and disadvant ages of all t hese t hree models are exhibited by comp ari son Followed wit h it , t he two kinds of usually used const raint s , st ability criterion and energy const raint are int roduced wit h abundant examples For st ability criterion , zero moment point ( ZM P) criterion as t he mo st useful const raint s in biped gait generation research is emp hasized Finally t hree intelligent cont rol met hods (neuron network , fuzzy logic and genetic algorit hm) wit h t heir combination met hods (fuzzy neu ron network , genetic neuron network and so on) were int roduced at t he end of t his p aper Key words 　biped robot ; model ; const raint ; intelligent cont rol 摘 　要 　概括地介