类人机器人全能运动的稳定性研究

类人机器人全能运动包括不同粗糙平面上的快速行走、越障、踢球、格斗等,稳定性是上述运动的关键环节。本文从分析机器人关节角与零力矩点（ZMP）的关系入手,研究提高机器人运动稳定性的新方法。具体步骤是先粗调校正机器人姿态,然后确定各关节角度,得到保证稳定运动的关节角范围。最后依托韩国GP型机器人进行测试,结果表明了所提出方法的有效性。

Study on Stability in the All-around Movement of Humanoid Robots

The all-round movement of humanoid robots include fast walk in different rough surface,climbing through obstacle, playing soccers,fighting with each other, and so on. How to guarantee the motion stability is the key link among the above. In this paper, a new way to improve the motion stability has been found based on the the relationship between joint angles and the Zero-Moment-Point（ZMP）. The concrete works include several steps as follows. First we adjusted coarsely the pose of the robot, then to determined all joint angles and obtain the angle range guaranteeing stable motion. Finally we chose a GP humanoid robot made in South Korea carry on stability measurement, and it was showed that the method presented in the paper is efficient.