The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling

机译：基于ZMP建模的轮式人形机器人的动态稳定性判据。

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The concept of ZMP was introduced. The iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP was proposed. The method has clear physical interpretation, lower computation complexity, is easy to program and control. The ZMP model of the wheel-based humanoid robot was built using the iterative ZMP computational method. The simplified ZMP computational equation of the wheel-based humanoid robot was given. Finally the dynamic stability criterion and the stability degree of the humanoid robot were defined.

机译：引入了ZMP的概念。提出了一种有效的牛顿-欧拉算法与ZMP概念相结合的迭代ZMP计算方法。该方法物理解释清晰，计算复杂度低，易于编程和控制。使用迭代的ZMP计算方法建立了基于轮的类人机器人的ZMP模型。给出了基于轮的类人机器人的简化ZMP计算方程。最后定义了类人机器人的动态稳定性准则和稳定性程度。

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来源
《2009年中国控制与决策会议（2009 Chinese Control and Decision Conference）论文集》|2009年|2349-2352|共4页
会议地点 Guilin(CN)
作者
Li Yanjie; Wu Zhenwei; Zhong Hua;
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作者单位

College of Mechanical Engineering Shenyang Ligong University Shenyang 110168;

State Key Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016;

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原文格式 PDF
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关键词
Zero Moment Point; Humanoid Robot; Dynamic Stability Criterion;

机译：零力矩点；人形机器人动态稳定性判据;

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1. Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach [J] . Monje Concepcion A., Martinez Santiago, Pierro Paolo, Cybernetics and Systems . 2018,第5a8期

机译：基于ZMP稳定区域方法的类人机器人实时全车身平衡控制
2. Optimal sagittal gait with ZMP stability during complete walking cycle for humanoid robots [J] . Zongying SHI, Wenli XU, Yisheng ZHONG, Journal of Control Theory and Applications . 2007,第2期

机译：类人机器人在完整步行周期内具有ZMP稳定性的最佳矢状步态
3. Optimal sagittal gait with ZMP stability during complete walking cycle for humanoid robots [J] . Zongying SHI, Wenli XU, Yisheng ZHONG, 控制理论与应用（英文版） . 2007,第002期

机译：类人机器人在完整步行周期内具有ZMP稳定性的最佳矢状步态
4. The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling [C] . Li Yanjie, Wu Zhenwei, Zhong Hua Chinese Control and Decision Conference . 2009

机译：基于ZMP建模的基于车轮的人形机器人的动态稳定性标准
5. Modelling and Dynamic Stabilisation of a Compliant Humanoid Robot, CoMan [D] . Dallali, Houman. 2012

机译：符合人类机器人机器人的建模与动态稳定，梳理
6. Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots [O] . Jing Zhao, Wei Li, Mengfan Li -1

机译：基于SSVEP和P300的人形机器人远程呈现控制模型的比较研究
7. Dynamic stability analyses based on ZMP of a wheel-based humanoid robot [O] . Li YJ(李艳杰), Tan DL(谈大龙), Wu ZW(吴镇炜), 2006

机译：基于ZMP的轮式人形机器人的动态稳定性分析。

The Dynamic Stability Criterion of the Wheel-based Humanoid Robot Based on ZMP Modeling

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