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Biped robot balance control—Based on FRP feedback mechanism and ZMP

机译:两足机器人平衡控制-基于FRP反馈机制和ZMP

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Based on the double feet moving robot future robot is an important direction of development, implementation of biped robot stable and rapid movement of the method of static gait planning method and dynamic gait planning method, but there are some problems, this paper presents a using FRP (Force Resistance Perceptor) perception of weight and robot motion quality from two aspects of the comprehensive data timely implementation of the new act or make correction strategy, combined with the ZMP robot posture adjustment, implementation of biped robot rapid and smooth motion, and gives the relevant test data.
机译:基于双脚移动机器人的未来机器人是重要的发展方向,实现两足机器人稳定快速运动的静态步态规划方法和动态步态规划方法,但存在一些问题,本文提出了一种使用FRP (Force Resistance Perceptor)可以从体重和机器人运动质量两个方面的综合数据感知中及时执行新的动作或做出校正策略,结合ZMP机器人的姿势调整,实现Biped机器人快速流畅的运动,并给出相关测试数据。

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