仿人机器人发展及其技术探索  

Development and Technology Research of Humanoid Robot

作　　者：于秀丽[1] 魏世民[1] 廖启征[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机械工程学报》2009年第3期71-75,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50875027;50775012);国家高技术研究发展计划(863计划;2007AA04Z211)资助项目

摘　　要：仿人机器人是研究人类智能的高级平台,它是综合机械、电子、计算机、传感器、控制技术、人工智能、仿生学等多种学科的复杂智能机械,目前已成为机器人领域的研究热点问题之一。对国内外仿人机器人研究现状进行广泛调研,其中日、美等国在研制仿人机器人方面做了大量的工作,中国各高校也积极研究,取得了突破性进展。概括并分析机器人自由度配置、步态规划的分类、基于零力矩点的稳定性判据、传感器的分类和应用以及机器人控制系统等关键技术。Being an advanced platform for researching human intelligence, the humanoid robot is complex and intelligent machinery integrating mechanics, electronics, computer, sensors, control technology, artificial intelligence, bionics and other disciplines. The humanoid robot has now become hot issues in the field of robot research. The domestic and foreign research status of humanoid robot is widely surveyed. A lot of research work on humanoid robot has been done in Japan and America. Meanwhile, Chines e universities are making active research and have made breakthrough progress. The configuration of freedom of humanoid robot, the classification of gait planning, the stability criteria based on zero moment point, the classification and application of sensors and robot control system are summarized and analyzed.

关 键 词：仿人机器人 自由度 步态规划 零力矩点 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]