| 二足步行机器人三维动步行的单脚支持期的理论解析及仿真 |
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| 引用本文： | 刘林生,胡秉辰,黄起,野饲享,加茂光则. 二足步行机器人三维动步行的单脚支持期的理论解析及仿真[J]. 机器人, 1993, 0(6) |
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| 作者姓名： | 刘林生 胡秉辰 黄起 野饲享 加茂光则 |
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| 作者单位： | 吉林工业大学机械工程系 长春130022(刘林生，胡秉辰，黄起)，静冈大学 日本(野饲享)，静冈大学 日本(加茂光则) |
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| 摘 要： | 本文以二足步行机器人的三维动步行的实现为目的,对单脚支持期的10自由度二足步行运动提出了一种 S 平面和 F 平面非分离的运动学和逆动力学解析方法,并在计算机上进行了过程仿真。证明了该方法的有效性.
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| 关 键 词： | 机器人 二足动步行 单脚支持期 三维解析 过程仿真 |
THEORETICAL ANALYSIS AND EMULATIONS OF 3-DIMEN-SIONAL STEPPING IN A SINGLE LEG SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT |
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| LIU Linsheng HU Bingchen HUANG Qi. THEORETICAL ANALYSIS AND EMULATIONS OF 3-DIMEN-SIONAL STEPPING IN A SINGLE LEG SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT[J]. Robot, 1993, 0(6) |
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| Authors: | LIU Linsheng HU Bingchen HUANG Qi |
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| Abstract: | In order to realize the three-dimentional stepping of biped locomotion robot,its ten-degree of freedon step-ping process at one foot support stage were studied.A direct-kinematics and inverse-dynanics analysismethod with non-separating sagittal-plane and frontal-plane was proposed.The process emulation of thismethod was made by computer,and the result shows that the analysis method was effective. |
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| Keywords: | robot riped locomotion single leg supporting phase 3-dimentional analysis process simulation |
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