一种新型的机器人模式--异构双腿行走机器人

单腿膝上截肢的残疾人欲站立行走，假腿便要成为他们身体的重要组成部分。这时人的双腿便是一种异构双腿的形式。先进的科学技术已经有可能让假腿具有智能，自动跟随健康腿的步态，使得残疾人“活动自如”。为了给智能假肢的研究提供合理的研究平台，也为了应用多智能体协调与分布式控制技术研究双足走行问题，本文提出的异构双腿行走机器人便成为最佳的研究载体。本文详细阐述了这种新型机器人的机构方案、开发意义、研究内容与关键技术等。

A New Kind of Robot Model:Biped Robot with Heterogeneous Legs

The prosthetic leg is an important part for the above-knee amputee to stand up and walk. Under this circumstance men's two legs are the heterogeneous legs. Because of the advanced science and technology, it is possible to make the prosthetic leg intelligent to follow automatically the gait of man's healthy leg. And then the above-knee amputees can walk and move freely. In order to provide a proper test-bed to investigate the intelligent prosthetic leg as well as to work over the biped walking with technologies of multi-agent system and distributed control, the biped robot with heterogeneous legs (BRHL) proposed by this paper is the best carrier of test. The mechanism scheme, development significance, investigation contents and key technologies are given in detail in this paper.