Abstract: Aiming at the walking stability of humanoid robot going down stairs, this paper presents a self-adaptive fuzzy control method based on Fictitious Zero Moment Point(FZMP). According to the restrains condition, the ankle and hip trajectory are generated. By using fuzzy controller, the position of reaction force on the surface is received. The trajectories are suitable modified according to the information of foot sensor. Simulation results show that this method can realize real-time control and high effect.

Key words: humanoid robot, Zero Moment Point(ZMP), Fictions Zero Moment Point(FZMP), gait plan, fuzzy control

摘要： 针对仿人机器人下楼梯时的稳定行走问题，提出基于虚拟零力矩点的自适应模糊控制方法。按一定约束条件规划各个关节的运动轨迹，利用模糊控制器得到地面反作用力点的位置，根据脚力传感器反馈信息进行适当修正，得到理想关节轨迹。仿真结果证明，该方法具有实时性和有效性。

关键词: 仿人机器人, 零力矩点, 虚拟零力矩点, 步态规划, 模糊控制

CLC Number: 

• TP242