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双足行走机器人平衡控制译文.docx

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外文资料： Robots 1.Introduction Nowadays,theapplicationsofmachinesandrobotstoassisthumaninperformingtheirtaskshasbecomeincreasinglyextensive.Inindustrialapplications,theuseofroboticssystemhasreachedthelevelwhichsurpasseshumanabilityintermsofspeedandaccuracy.Ontheotherhand,inthefieldofdomesticrobotsorservicerobots,thedevelopmentsarestillfarfromperfection.Themainfactorthatdistinguishesindustrialrobotsfromservicerobotsistheirworkingenvironment.Foraservicerobottoperfectlyperformitstasks,itneedstobeabletoadaptandcopewiththenormalhumanlivingenvironment.Fromthepracticalpointofview,bipedalrobotisthemostsuitablerobotstructureduetoitssimilarityofphysicalconfigurationwithhumanespeciallyintermsoflocomotionmethod.However,therealizationofbipedalrobotismorechallengingcomparedtoothertypesofmobilerobotduetheunstablenatureofbipedalwalking.Therefore,manystudieshavebeencarriedoutespeciallyconcerningthestabilitysensingandcontrolstrategiesofbipedalrobot.Thecommonapproachindefiningthestabilityofbipedalrobotisbyusingthe“ZeroMomentPoint”(ZMP)criterion[1].ThesimplestimplementationofZMPistogeneratethejointtrajectoriesbasedonthepre-plannedwalkinggaitwhilemaintainingtheZMPatthegivenreferences,butthisapproachhasalimitationinmaintainingthebalanceifthereisanyunknownexternaldisturbance[2-5].Manystudiesspecificallyfocusonthetechniquestomonitorthereal-timeZMPpositionfromthephysicalsystemanduseditasthefeedbackcomponent[6-9].TakanishiandKato[7]proposedamethodtomonitortheZMPpositionbymeasuringtheforceandmomentactingontherobot’sshankbyusinguniversalforcemomentsensor.Anothermethodutilizesanarrayofforcesensitiveresistorplacedonthesoleoftherobot’sfoottoobtainthegroundreactionforceatdifferentlocationsofthefoot.ThereactionforcesmeasuredfromthesensorarrayisthenusedtocomputethepositionofthecenterofpressurewhichreflectsthepositionoftheZMP[9].Theinvertedpendulumtechniqueisanotheralternativeforanalyzingtherobotstability[10].Thismethodmonitortheinstabilitybyconstantlyreadingthebodyaccelerationandtiltanglebymeansofaccel