| 双足步行机器人控制器的改进与实现 |
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| 引用本文： | 庄燕滨,徐强. 双足步行机器人控制器的改进与实现[J]. 工矿自动化, 2007, 0(6): 23-26 |
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| 作者姓名： | 庄燕滨 徐强 |
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| 作者单位： | 常州工学院计算机信息工程学院,江苏,常州,213002;常州工学院计算机信息工程学院,江苏,常州,213002 |
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| 摘 要： | 文章首先指出二十四自由度双足机器人的控制器是该型机器人的核心,也是扩展该型机器人功能首先需要改进的部件,接着介绍了双足机器人的控制器硬件和软件的改进设计。文章比较详细地阐述了双足机器人步态轨迹控制与规划,并指出下一步的研究方向是如何控制双足步行机器人稳定地和健壮地在复杂环境里及粗糙地面上行走。
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| 关 键 词： | 双足步行机器人 控制器 改进设计 步态轨迹 |
| 文章编号： | 1671-251X(2007)06-0023-04 |
| 修稿时间： | 2007-06-30 |
Improvment and Implementation of Controller of Biped Walking Robots |
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| ZHUANG Yan-bin,XU Qiang. Improvment and Implementation of Controller of Biped Walking Robots[J]. Industry and Automation, 2007, 0(6): 23-26 |
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| Authors: | ZHUANG Yan-bin XU Qiang |
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| Abstract: | At first,the paper pointed out that controller of biped robots with 24 degrees of freedom is core of the biped(robots) and also is the part needed to be improved firstly when expanding functions of the biped(robots,) then introduced the improved design of hardware and software of controller of the biped(robots.) The paper described the control of behavior posture and biped gait of the biped robots and its plan in details comparatively,and pointed out the next research direction is how to control the biped robots walk in complicated condition and on unshaped ground surface steadily and lustily. |
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| Keywords: | biped walking robot controller improved design behavior posture and biped gait |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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