| 基于主—从控制的双足机器人动步态行走 |
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| 引用本文： | 张铨 刘志远. 基于主—从控制的双足机器人动步态行走[J]. 机器人, 1992, 14(4): 7-12 |
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| 作者姓名： | 张铨 刘志远 |
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| 作者单位： | 哈尔滨工业大学控制工程系 150006(刘志远，张铨)，哈尔滨工业大学控制工程系 150006(傅佩琛) |
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| 摘 要： | 本文给出一种基于主-从控制实现双足机器人动步态行走的控制方法.该方法计算量小,可以在线规划步态及实现双脚支撑期平滑的动态切换.仿真及实验结果验证了方法的有效性及可行性,实现了变步态动态行走.实验所采用的装置为 HLTR—13双足机器人.该机器人重65kg,高1.1m,具有12个自由度.实验结果表明,本文给出的方法能较好地实现变步态动态行走。从而使机器人具有较强的环境适应能力.
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| 关 键 词： | 主－从控制 双足 机器人 动态行走 |
DYNAMIC LOCOMOTION OF BIPED ROBOT BASED ON MASTER-SLAVE CONTROL |
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| LIU Zhiyuan ZHANG Quan FU Peichen. DYNAMIC LOCOMOTION OF BIPED ROBOT BASED ON MASTER-SLAVE CONTROL[J]. Robot, 1992, 14(4): 7-12 |
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| Authors: | LIU Zhiyuan ZHANG Quan FU Peichen |
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| Abstract: | This paper presents a control method which is based on master-slave control to realize dynamic locomotionof biped robot.The computational load of this method is low so that it can plan walking patterns on-line andaccomplish smooth dynamic switching in double-support phase.Simulation and experiment results show thatthe method is effective and practical.To realize dynamic locomotion with changing walking patterns.The ap-paratus used in the experiment is a HITR-13 biped robot with 12 DOFs.The experiment results also showthat the method can make biped robot to be well adaptive to environments. |
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| Keywords: | biped robot dynamic locomotion master-slave control |
| 本文献已被 CNKI 维普 等数据库收录！ |
