Trajectory-free dynamic locomotion using key trend states for biped robots with point feet  

作　　者：Lianqiang HAN Xuechao CHEN Zhangguo YU Xishuo ZHU Kenji HASHIMOTO Qiang HUANG 

机构地区：[1]School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China [2]Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,Beijing 100081,China [3]Intelligent Mine Research Institute,China Coal Research Institute Co.,Ltd.,Beijing 100013,China [4]Department of Mechanical Engineering Informatics,Meiji University,Kanagawa 214-8571,Japan [5]Humanoid Robotics Institute(HRI),Waseda University,Tokyo 162-8480,Japan

出　　处：《Science China(Information Sciences)》2023年第8期259-260,共2页中国科学（信息科学）（英文版）

基　　金：supported by National Key Research and Development Program of China(Grant No.2018YFE0126200);National Natural Science Foundation of China(Grant Nos.61973039,62073041)。

摘　　要：Dear editor,Biped robots can not only cross complex environment such as ravines and rocks[1],but can also interact in more diverse activities with people.A biped robot with point feet is called an underactuated biped robot(UBR)because there is no driving device at the contact point between the foot and the ground.

关 键 词：robot EDITOR POINT 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]