ZMP Based Motion Stability Analysis of a Wheeled Humanoid Robot with Bending Torso

摘要

Motion stability is the most important issue to be considered when designing a wheeled humanoid robot with bending torso, as it’s easy to capsize because of its high center of gravity. With ZMP (Zero Moment Point) method the motion stability of a wheeled humanoid robot with bending torso was analyzed. At first, the chain rule was used to model the kinematics of the wheeled humanoid robot, and then the process of calculating the ZMP of the robot was presented. With MATLAB the motion stability of the humanoid robot in three typical conditions is simulated and analyzed, and the simulation results were used to optimize some parameters of a wheeled humanoid robot we are designing.