CAJ | 학술논문

针对小型仿人机器人足部异常着地姿态对步行稳定性的重要影响，提出了一种基于力分布的快速着地柔顺控制方法，使机器人能够根据着地时地面反作用力的分布情况，快速判断足部着地姿态，通过实时调节踝关节实现机器人的快速着地柔顺控制。该方法结合基于零力矩点（Zero Moment Point，ZMP）和身体姿态的平衡控制方法，在运动调节功能的协调下，形成了一个较为完备的小型仿人机器人实时稳定控制体系。
침대소형방인궤기인족부이상착지자태대보행은정성적중요영향，제출료일충기우력분포적쾌속착지유순공제방법，사궤기인능구근거착지시지면반작용력적분포정황，쾌속판단족부착지자태，통과실시조절과관절실현궤기인적쾌속착지유순공제。해방법결합기우령력구점（Zero Moment Point，ZMP）화신체자태적평형공제방법，재운동조절공능적협조하，형성료일개교위완비적소형방인궤기인실시은정공제체계。
In order to match the walking stability requirement when foot is landing abnormally, a compliance control method based on the distribution of landing stress is put forward. According to the fast judgment of abnormal landing posture,the small humanoid robot can adjust the ankle to achieve better stability;the balance control methods are used based on the ZMP and attitude to guarantee the walking stability by adjusting the ankle and hip of the robot;the rela-tionship among the dynamic gait,stability control and motion restriction can be coordinated by motion adjustment. By combining these three control methods,a real-time stability control system of small humanoid robot are obtained.