| 双足仿人机器人的设计与步态分析 |
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| 引用本文： | 王健,孙志峻.双足仿人机器人的设计与步态分析[J].机械与电子,2009(11):56-59. |
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| 作者姓名： | 王健 孙志峻 |
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| 作者单位： | 南京航天航空大学机电学院,江苏,南京,210016 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 设计了一个双足仿人机器人，建立了机构的三维模型，对机器人腿部进行了运动学分析及步态规划，并运用ADAMS进行了仿真。结果表明结构设计及步态规划合理正确，为物理样机的制造提供了重要依据。
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| 关 键 词： | 双足仿人机器人 运动学 步态规划 ADAMS |
Design and Gait Analysis of Biped Humanoid Robot |
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| WANG Jian,SUN Zhi-jun.Design and Gait Analysis of Biped Humanoid Robot[J].Machinery & Electronics,2009(11):56-59. |
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| Authors: | WANG Jian SUN Zhi-jun |
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| Affiliation: | (College of Mechanical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China) |
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| Abstract: | In this paper, a biped autonomous humanoid robot is designed. A three - dimensional model of agencies is set up and kinematic analysis of a robot leg and gait planning are done. Simulation is carried out by ADAMS. Results show that structure design and gait planning are reasonable and right, which provides an important basis for the physical prototype manufacturing. |
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| Keywords: | ADAMS |
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