面向作业与人工智能的仿人机器人研究进展  

Research progress of humanoid robots for mobile operation and artificial intelligence

作　　者：吴伟国[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2015年第7期1-19,共19页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划(863-2006AA04Z201)

摘　　要：以人类自身为原型参照的仿人全身机器人是国际机器人研究领域最具代表性的研究对象,也是机器人学、机器人技术以及人工智能的终极研究目标.针对国际上目前在仿人全身机器人、仿人头部、多指手、仿人双足步行机等方面理论与关键技术进行了全面回顾、综述与分析,包括作者在仿人机器人方面相关研究工作的回顾;归纳总结了目前仿人全身机器人技术程度,从驱动元部件、步行稳定性、本体集成化设计、操作能力以及环境适应性等角度分别提出了目前存在的主要技术问题以及今后发展的趋势;为从事与仿人机器人及其各组成部分相关研究的科研人员以及相关科技管理部门提供参考.Whole-body humanoid robot,which regards human beings as the reference prototype,is the most representative research object and the ultimate goal of robotics,robot technology and artificial intelligence.Comprehensive review,summary and analysis of current theories and key technologies in whole-body humanoid robot,humanoid head,multi-finger hand,humanoid biped walking machine and so on are given,including review of the relevant works on humanoid robots by the author. By summarizing the current technical level of humanoid robots ＇ development,the main technical problems and the trend of the future development are respectively discussed in the aspects of driving elements,walking stability,integrated designation and operation ability of the mechanical systems,environment adaptability and so on. References of decision making are provided for researchers and managers engaged in the relevant works of humanoid robots and their components.

关 键 词：仿人机器人 双足步行 表情机器人 多指手 多移动方式 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]