| 双足机器人HEUBR-1 样机研制与实验研究 |
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| 引用本文： | 王立权,俞志伟.双足机器人HEUBR-1 样机研制与实验研究[J].机器人,2009,31(5):1. |
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| 作者姓名： | 王立权 俞志伟 |
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| 作者单位： | 哈尔滨工程大学机电工程学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 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．
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| 关 键 词： | 双足机器人 仿人结构设计 步态稳定性 拟人步态 |
Experimental Study and Prototype Development of Biped Robot HEUBR_1 |
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| WANG Liquan,YU Zhiwei.Experimental Study and Prototype Development of Biped Robot HEUBR_1[J].Robot,2009,31(5):1. |
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| Authors: | WANG Liquan YU Zhiwei |
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| Affiliation: | College of Mechanical and Electrical Engineering;Harbin Engineering University;Harbin 150001;China |
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| Abstract: | A space parallel mechanism with two degrees of freedom is designed for biped robot HEUBR 1 by simulating the driving manner of human muscle.The proposed mechanism is applied to the lower limb joints of biped robot HEUBR 1, and a new kind of hybrid serial-parallel humanoid lower limb is realized.With toe joints added to the feet of HEUBR 1, the robot can simulate walking manner of human and realize the real humanoid gait walking.The key technologies of stable humanoid walking for biped robot HEUBR 1 are expa... |
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| Keywords: | biped robot bionic structure design gait stability humanoid gait |
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