| 基于CPG的仿人机器人运动控制方法及研究进展 |
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| 引用本文： | 王健美,付成龙,黄元林,陈恳.基于CPG的仿人机器人运动控制方法及研究进展[J].机械设计与制造,2009(9). |
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| 作者姓名： | 王健美 付成龙 黄元林 陈恳 |
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| 作者单位： | 1. 清华大学,精密仪器与机械学系,北京,100084
2. 清华大学,精密仪器与机械学系,北京,100084;清华大学,摩擦学国家重点实验室,北京,100084 |
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| 基金项目： | 国家"863"高科技资助项目，国家自然科学基金资助项目，教育部博士点基金资助项目，清华大学摩擦学国家重点实验室自主研究课题 |
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| 摘 要： | 对基于CPG的仿人机器人运动控制方法的仿生学基础及控制原理、特性进行了阐述,并从控制模型、控制体系、参数调节、与其它控制器的联合几个方面对该方法的研究进展进行了分析和总结,对其发展趋势进行了展望.
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| 关 键 词： | 仿人机器人 运动控制 |
CPG-Based locomotion control on biped robot and its development |
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| WANG Jian-mei,FU Cheng-long,HUANG Yuan-lin,CHEN Ken.CPG-Based locomotion control on biped robot and its development[J].Machinery Design & Manufacture,2009(9). |
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| Authors: | WANG Jian-mei FU Cheng-long HUANG Yuan-lin CHEN Ken |
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| Affiliation: | 1Department of Precision Instruments and Mechanology;Tsinghua University;Beijing 100084;China;2The State Key Laboratory of Tribology;China |
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| Abstract: | It demonstrates the CPG-based locomotion control on biped robot about its biological basis,control principle,and characteristics;and analyzes its research status from the view of control model, control architecture,parameter tuning,and its combination with other controllers. Its future development is also discussed. |
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| Keywords: | CPG |
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