公开(公告)号：KR101073496B1

公开(公告)日：2011-10-17

申请号：KR1020090016749

申请日：2009-02-27

Applicant: 숭실대학교산학협력단

Inventor： 한헌수 ,  한영준 ,  박상범 ,  김병현

IPC: B25J9/16 ,  B25J13/00 ,  B25J17/00

Abstract: 본발명은이족로봇의복잡한동역학적해석으로인해실제이족로봇에적용하는경우발생되는오차를칼만필터를통해보상함으로써안정된보행을이룰수 있는기반을제공한다.

公开(公告)号：KR1020100097881A

公开(公告)日：2010-09-06

申请号：KR1020090016749

申请日：2009-02-27

Applicant: 숭실대학교산학협력단

Inventor： 한헌수 ,  한영준 ,  박상범 ,  김병현

IPC: B25J9/16 ,  B25J13/00 ,  B25J17/00

Abstract: PURPOSE: A balance control method using prediction of ZMP(Zero Moment Point) state of a Kalman filter is provided to ensure stable walking of a biped robot by compensating an error caused by complex dynamic analysis. CONSTITUTION: A balance control method using prediction of ZMP state of a kalman filter for stable walking of a biped robot is as follows. The actual dynamic ZMP is predicted through the kalman filter without performing complex dynamic analysis for control of the biped robot. The ZMP of the present walking period is converted into a COM(Center Of Mass) state value so as to calculate the exact ZMP of the next walking period of the biped robot(3).

Abstract translation: 目的：提供一种使用卡尔曼滤波器的ZMP（零矩点）状态预测的平衡控制方法，以通过补偿复杂动态分析引起的误差来确保双足机器人的稳定行走。 构成：使用卡尔曼滤波器的ZMP状态的预测的平衡控制方法，用于两足动物机器人的稳定行走如下。 实际动态ZMP是通过卡尔曼滤波器进行预测的，而不需要对双足机器人的控制进行复杂的动态分析。 本步行时段的ZMP被转换为COM（质心）状态值，以计算Biped机器人（3）的下一步行周期的确切ZMP。