双足溜冰机器人样机研制  

Study and Development of the Biped Ice-skater Robot with Passive Wheels

作　　者：徐子力[1] 吕恬生 徐振华[1] 宋立博[1] 

机构地区：[1]上海交通大学,上海200240

出　　处：《中国机械工程》2007年第16期1921-1924,1929,共5页China Mechanical Engineering

摘　　要：依据人体轮滑运动基本动作的运动特点,分析双足从动轮式溜冰机器人(BISR)运动原理,研制出具有12个自由度的BISR样机。从模仿人体轮滑运动特点出发,探讨机器人实现"葫芦步"直线滑行的步态规划方法,并设计出机器人的控制系统。BISR样机成功实现"葫芦步"直线滑行,表明机器人样机设计合理,步态规划方法可行,溜冰运动可以成为两足机器人一种新的运动方式。By analyzing the locomotion of human skating, a biped ice-skater robot of leg-wheeled passive wheel type was presented, which had 12 degrees of freedom and was able to imitate human skating motion. The paper narrated briefly its motion principle after the kinematical model was simpli fied. Also, the construction and control system of BISR were introduced. Meanwhile, the gait plan of the robot was discussed and planed in detail. Lastly,the Validity of this motion principle,the design of prototype and the gait plan of BISR were verified by the actual examples of BISR skating with the symmetric gait. BISR will provide a new type of motion for the biped robot that usually walked.

关 键 词：双足溜冰机器人 步态设计 运动匹配 控制系统 

分 类 号：TP242.1[自动化与计算机技术—检测技术与自动化装置]