单电动机驱动的半被动双足机器人设计与实现  

Design and realization of semi-passive biped robot driven by single motor

作　　者：张奇志[1] 周亚丽[1] 徐鑫鑫 张万杰 律晔 吴康 

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]北京沃普拉斯科技有限公司,北京100086

出　　处：《北京信息科技大学学报（自然科学版）》2016年第2期1-6,共6页Journal of Beijing Information Science and Technology University

基　　金：国家自然科学基金资助项目(11172047)

摘　　要：研究了半被动双足机器人系统的设计问题。提出了一种双足机器人驱动腿的设计方法,给出了半被动双足机器人机械结构、控制系统和软件系统的设计方案。设计并实现了一种采用单电动机驱动的半被动双足机器人,该机器人具有重量轻、结构紧凑、功耗低的特点,可以简化为可变支撑杆长的倒立摆系统。初步实验表明,该机器人适合半被动双足机器人行走控制的实验研究。The design problem of semi-passive biped robot is discussed. A design method for the actuating leg is proposed. The design scheme for the mechanical structure,control system and software system of the biped robot are presented. A prototype of the semi-passive biped robot system driven by single electric motor is developed and tested in experiments. The prototype system is featured with low weight,low volume and low power consumption,and can be modelled by an inverted pendulum with a variable length supported stick. The experiments show that it is suitable for experimental study of walking control of semi-passive biped robot.

关 键 词：双足机器人 半被动行走 固定点 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]