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�������պ����ѧѧ�� 2007, Vol. 33 Issue (08) :949-953    DOI:
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Motion planning for humanoid robot based on instability capacity
Peng Zhaoqin, Fu Yongling, Zhao Ke, Tang Zhiyong*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ Ϊ�˱�֤�������ܹ��������������а�ȫ�ع���,Ӧ��ѡ�����ȶ����˶��켣.�����һ���ܹ����۲�ͬ���˶���̬֮���ȶ��Ժû����ȶ�������׼��.�������ص�(ZMP,Zero Moment Point)�������֧�����������֮��ľ��붨��Ϊ���ȶ���,�����˷����ͻ��������߹����м��ֵ��Ͳ�̬�IJ��ȶ���,ͬʱ����˻��ڲ��ȶ��ȵķ����ͻ����˲�̬�滮�ķ���.�����ö����˶���̬�������ͬһ������ʱ,��������IJ��ȶ������۷��������ڲ�ͬ�����IJ�̬��ѡ����ȶ�����õ��˶���̬��ִ��.���漰ʵ������֤�˸÷�������Ч��.
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Abstract�� In order to ensure that the robot can work safely in human-s living environment, the most stable trajectory should be selected to finish the task. A new stability evaluating criterion which can be used to evaluate the stability of different walking patterns of the humanoid robot was proposed. The distance between the ZMP(zero moment point) and the center of the supporting region was defined as instability capacity, and the instability capacities of several typical walking patterns were analyzed. In addition, the motion planning method based on instability capacity was proposed. In some cases, for an appointed task, many kinds of motions which have different step length can be used to finish the task, and the most suitable trajectory can be selected among those feasible trajectories using the instability capacity evaluating method. The effectiveness of this method was proved by simulation results.
Keywords�� humanoid robot   ZMP(zero moment point)   instability capacity   motion planning     
Received 2006-10-20;


About author: ����(1977��),Ů,���Ϻ�����,��ʿ��,pengzhaoqin@buaa.edu.cn.
����, ������, �� ��, ��־��.���ڲ��ȶ��ȵķ����ͻ����˲�̬�滮����[J]  �������պ����ѧѧ��, 2007,V33(08): 949-953
Peng Zhaoqin, Fu Yongling, Zhao Ke, Tang Zhiyong.Motion planning for humanoid robot based on instability capacity[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(08): 949-953
http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2007/V33/I08/949
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