双足行走机器人平衡控制译文.docxVIP

外文资料：Robots1. IntroductionNowadays, the applications of machines and robots to assist human in performing their tasks has become increasinglyextensive. In industrial applications, the use of robotics system has reached the level which surpasses human ability in terms of speed and accuracy. On the other hand, in the field of domestic robots or service robots, the developments are still far from perfection. The main factor that distinguishes industrial robots from service robots is their working environment. For a service robot to perfectly perform its tasks, it needs to be able to adapt and cope with the normal human living environment. From the practical point of view, bipedal robot is the most suitable robot structure due to its similarity of physical configuration with human especially in terms of locomotion method. However, the realization of bipedal robot is more challenging compared to other types of mobile robot due the unstable nature of bipedal walking. Therefore, many studies have been carried out especially concerning the stability sensing and control strategies of bipedal robot.The common approach in defining the stability of bipedal robot is by using the “Zero Moment Point” (ZMP) criterion[1]. The simplest implementation of ZMP is to generate the joint trajectories based on the pre-planned walking gait whilemaintaining the ZMP at the given references, but this approach has a limitation in maintaining the balance if there is anyunknown external disturbance [2-5]. Many studies specifically focus on the techniques to monitor the real-time ZMPposition from the physical system and used it as the feedback component [6-9]. Takanishi and Kato [7] proposed a methodto monitor the ZMP position by measuring the force and moment acting on the robot’s shank by using universal forcemomentsensor. Another method utilizes an array of force sensitive resistor placed on the sole of the robot’s foot to obtainthe ground reaction force at different locations of the foot. The r