拟人步行机器人的设计与控制  

The Design and Control of the Humanoid Walking Robot

作　　者：杨雨薇[1] 

机构地区：[1]长安大学工程机械学院,陕西西安710064

出　　处：《现代工业经济和信息化》2015年第10期61-62,共2页Modern Industrial Economy and Informationization

摘　　要：拟人步行机器人以类人形双足步行机器人为研究对象,采用仿人结构,全身共有19个自由度,具备相当高的平衡能力,双手双足容易控制,能够做出各种模仿人类的动作,如打太极拳,跳舞等。研究其动态特性和控制技术,同时该机器人还可以作为一个开发平台,通过加装不同的传感器模块改变或扩展机体的功能,以较为经济的方式实现用户所需功能。This paper focuses on researching the biped humanoid walking robot and its dynamic characteristics and the control technology. The humanoid robot adopts the structure of a human body. There are a total of 19 DOF full body which results in a high balanced capacity and easily controlled arms and legs. In this way, the robot can make all kinds of imitation of human actions, such as tai chi, dancing and so on. This robot can serve as a development platform. By installing different modules of sensors to change or expand the functions of the body, the robot can satisfy the users＇ demand in an economical way.

关 键 词：仿人结构 运动分析 智能系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]