空间型两足步行机器人的运动学建模研究  

STUDY ON THE KINEMATIC MODELLING OF 3-DIMENSIONAL BIPED ROBOTS

作　　者：谭冠政[1] 尉忠信[1] 朱剑英[1] 

机构地区：[1]南京航空学院机械工程系,南京210016

出　　处：《航空学报》1992年第12期B633-B640,共8页Acta Aeronautica et Astronautica Sinica

摘　　要：提出两足步行机器人运动学建模的一般方法,既适应于平面运动型,也适应于空间运动型。采用这种建模方法,针对作者设计的NAIWR-Ⅰ空间型两足步行机器人,建立了运动学模型,并对逆运动学解和唯一解问题进行了讨论。A general method of the kinematic modelling of biped robots is put forward in this paper. The method is suitable for 2-dimensional biped robots as well as for 3-dimensional biped robots. Using the method, the authors have set up the kinematic model of NAIWR- I biped robot designed by the authors. The obtained result is audio-visual and reasonable. The problems of the inverse kinematic solution and its unique solution are discussed.

关 键 词：机器人 运动学 建模 计算 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]