共查询到18条相似文献,搜索用时 523 毫秒
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仿人机器人是一种集机械、电子、控制、通信、计算机等多种技术于一体的智能系统,而控制技术是它的核心.本文设计了一款基于STM32F103芯片的小型仿人机器人控制系统.该控制系统通过输出10路PWM波实现机器人的关节运动控制,通过红外测距传感器实现机器人避障,通过姿态传感器MPU6050实现机器人的姿态测量.经过试验验证,在该系统的控制下,10自由度小型仿人机器人能够稳定行走并完成各种预期动作,且能够实现自主避障功能. 相似文献
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设计了一款低成本的小型双足机器人研究平台。根据仿生学原理确定机器人的比例尺寸,根据机器人的功能要求确定其自由度配置,选择了合适的材料和驱动元件,实现了一个小型的双足舞蹈机器人。 相似文献
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基于ADAMS的双足机器人拟人行走动态仿真 总被引:3,自引:2,他引:1
在双足机器人HEUBR_1的设计中,下肢采用了一种新的串并混联的仿人结构,并在足部增加了足趾关节.为验证该仿人结构设计的合理性及拟人步态规划的可行性,在ADAMS虚拟环境中建立了双足机器人HEUSR_1的仿真模型.通过拟人步态规划生成了运动仿真数据,在ADAMS虚拟环境中实现了具有足趾运动的拟人稳定行走,经仿真分析,获得了双足机器人HEUBR_1拟人行走步态下的运动学和动力学特性,仿真结果表明:双足机器人HEUBR_1的串并混联的仿人结构设计能够满足行走要求,且拟人步态规划方法可行,有足趾运动的拟人行走具有运动平稳、能耗低、足底冲击力小的特点.稳定行走的仿真步态数据可为下一步双足机器人HEUBR_1样机行走实验提供参考数据. 相似文献
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模拟人的肌肉驱动方式,为双足机器人HEUBR-1 设计了二自由度的空间并联机构,并将其应用于双
足机器人HEUBR-1 下肢关节,实现了一种新的串并混联的仿人下肢结构.在HEUBR-1 的足部增加了足趾关节,使
机器人能够模拟人的行走方式,实现真正的拟人步态行走.阐述了双足机器人HEUBR-1 稳定拟人行走的关键性技
术,提出了综合稳定性判据,分析了拟人的多种步态.通过拟人行走步态实验分析,验证了双足机器人HEUBR-1 串
并混联的仿人结构的设计合理性及拟人步态分析的准确性. 相似文献
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《电子制作.电脑维护与应用》2021,(1)
为实现仿人型格斗对抗,设计了一套仿人型格斗机器人。采用STM32F407单片机作为核心控制单元,自主构思控制方案进行系统设计,根据在仿人搏击中运用到的各种动作方案加以实验研究,通过蓝牙模块控制单片机系统完成各种仿人动作。实践证明,该机器人系统在格斗中延时低、准确度高,具有一定的实用性。 相似文献
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This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined
floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat
with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors.
In reality, however, a typical room floor that appears to be flat has local and global inclinations of about 2°. It is important
to note that even slight unevenness of a floor can cause serious instability in biped walking robots. In this paper, the authors
propose an online control algorithm that considers local and global inclinations of the floor by which a biped humanoid robot
can adapt to the floor conditions. For walking motions, a suitable walking pattern was designed first. Online controllers
were then developed and activated in suitable periods during a walking cycle. The walking control algorithm was successfully
tested and proved through walking experiments on an uneven and inclined floor using KHR-2 (KAIST Humanoid robot-2), a test
robot platform of our biped humanoid robot, HUBO. 相似文献
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《Advanced Robotics》2013,27(6):633-652
The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in the lower limbs. Humans are considered to exhibit walking behavior which is both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots cannot realize human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, a quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s per step with a 0.1 m step length. 相似文献
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In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point (ZMP). This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity (COG) of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot's collapse. Finally, the algorithm is validated by different kinds of simulation experiments. 相似文献
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《Advanced Robotics》2013,27(4):415-435
This paper describes position-based impedance control for biped humanoid robot locomotion. The impedance parameters of the biped leg are adjusted in real-time according to the gait phase. In order to reduce the impact/contact forces generated between the contacting foot and the ground, the damping coefficient of the impedance of the landing foot is increased largely during the first half double support phase. In the last half double support phase, the walking pattern of the leg changed by the impedance control is returned to the desired walking pattern by using a polynomial. Also, the large stiffness of the landing leg is given to increase the momentum reduced by the viscosity of the landing leg in the first half single support phase. For the stability of the biped humanoid robot, a balance control that compensates for moments generated by the biped locomotion is employed during a whole walking cycle. For the confirmation of the impedance and balance control, we have developed a life-sized humanoid robot, WABIAN-RIII, which has 43 mechanical d.o.f. Through dynamic walking experiments, the validity of the proposed controls is verified. 相似文献
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基于ODE 引擎的开放式仿人机器人仿真 总被引:2,自引:0,他引:2
为了获得灵活、开放、简洁的仿真功能,提出了一种基于ODE(open dynamics engine)的仿人机器人
仿真平台集成方案.将基于ODE 的仿人机器人仿真系统开发过程定义为两类运算:变换叠加和关节叠加,并设计
了这两类叠加的ODE 算法.将仿人机器人结构描述为一个设计者和计算机都可以理解的结构表,将该结构表翻译
为ODE 基本元素实现仿真.设计并实现了一个基于所提出方案的仿人机器人仿真平台,根据基于倒立摆的步态规
划思想,设计并在仿真平台上实现了双足步行的仿真实验.实验证明了文中方法的有效性. 相似文献
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THBIP-I拟人机器人研究进展 总被引:6,自引:3,他引:6
清华大学THBIP-I拟人机器人研究项目,由精密仪器系、机械工程系和自动化系组
成研究小组进行系统研究,其研究目的是发展先进机器人理论和技术,开发自主式拟人机器
人样机.THBIP-I机器人是具有头、手臂、躯干、腿和脚的拟人机器人,共32个自由度,并
具有视觉及语音识别等智能功能.结构设计方面,由直流无刷电机、滚珠丝杠、曲柄连杆机
构、谐波减速器组成,各驱动关节轴独立运动.控制系统分三层:组织层、协调层、执行层
,分别完成任务规划、关节协调运动控制、关节伺服控制等任务.传感系统由关节位置检测
、地面反力检测、姿态检测、视觉系统、语音识别系统组成.电源系统采用机载电池系统供
电.本文将介绍THBIP-I机器人研究进展. 相似文献
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Keli Shen Xiang Li Hongzhi Tian Takayuki Matsuno Mamoru Minami 《Artificial Life and Robotics》2018,23(2):261-270
In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high. 相似文献