摘要： 对双足机器人在行走过程中进行实时修正会导致机器人步行不稳定，以及使得步行速度受限。为解决该问题，提出一种双足机器人跟踪误差在线修正方法。从模仿人类的角度出发，将机器人步行模式分为单腿支撑相和双腿支撑相2个阶段，并分别采用误差裕量和误差限值的方法进行在线修正。实验结果表明，该修正方法可使机器人步行速度上限提高25%左右，对外部环境具有一定的抗干扰能力。

关键词: 双足机器人, 步行模式, 在线修正, 稳定性, 单腿支撑相, 双腿支撑相

Abstract: To solve the problems of instability and speed limitation that are caused by the real-time correction during the walking of a biped robot, a tracking error online correction method for biped robot is presented. To imitate the walking of human, two stages are separated for the robot walking pattern, that are the Single Support Phase(SSP) and the Double Support Phase(DSP). The error margin and error limit methods are used to correct the two stages online respectively. Experimental results show that the walking speed limit of the method is improved by about 25%, and it has a certain anti-interference ability for the external environment.

Key words: biped robot, walking mode, online correction, stability, Single Support Phase(SSP), Double Support Phase(DSP)

中图分类号: 

• TP391