类哺乳动物腿式机器人研究综述  

Mammalian Legged Robot:a Review

作　　者：秦现生[1,2] 张雪峰[1] 谭小群[1] 冯华山[1] 张培培[1] 

机构地区：[1]西北工业大学,西安710072 [2]陕西省数字化特种制造装备工程技术研究中心,西安710072

出　　处：《中国机械工程》2013年第6期841-851,共11页China Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划)资助项目(2011AA041001);国家自然科学基金资助项目(51275413);西北工业大学研究生创业种子基金资助项目(Z2012043)

摘　　要：类哺乳动物腿式机器人凭借其离散式的地面支撑和对障碍、沟渠等复杂特殊地形及不可预知环境的极强适应性,使其具有广泛的应用前景。从双腿式机器人和四腿式机器人两个方面介绍了国内外类哺乳动物腿式机器人的研究现状,分析和讨论了腿式机器人在腿部结构、关节驱动、导航、稳定性判据和控制算法方面的相关理论与方法,对存在的问题进行了讨论,并对未来的发展趋势进行了预测。For discrete ground contact, there were high adaptability and extensive application pros- pect for mammalian legged robot when encountering special topographical and unpredictable environ- ment such as obstacles,ditch and so on. This paper surveyed the development process of mammalian legged robots, and mainly introduced overseas and domestic research status in terms of two legged and four legged robots. The related theory and method on legged structure ,joint drive, navigation, stability criterion and control algorithm were analyzed and discussed, Meanwhile, the difficulties to be solved under development were analyzed and the future of legged robots was forecasted.

关 键 词：类哺乳动物 腿式机器人 腿结构 关节驱动 导航 稳定性判据 控制算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]