Development of a biped walking robot adapting to a horizontally uneven surface
Development of a biped walking robot adapting to a horizontally uneven surface
复制标题
适应水平不平坦表面的双足行走机器人的研制
DOI：
--
复制
发表时间：
1994
期刊：
影响因子：
--
通讯作者：
I. Kato
中科院分区：
文献类型：
--
作者：
J. Yamaguchi;A. Takanishi;I. Kato
本文作为拟人双足行走机器人适应不平坦表面的双足行走的第一阶段，介绍了一种适应步高未知的水平组合（HC）平面的双足行走控制方法，以及一种具有减震功能的特殊足部机构。作者开发了一种具有足机构的拟人双足行走机器人，并利用该控制方法对该机器人进行了行走实验。从而实现了自适应动态双足在未知高度的台阶上行走。最大行走速度为每步0.96秒，步长为0.3m，最大步高为12mm。作者认为，适应性是拟人机器人不可或缺的一部分，它将在不久的将来支持人类的生活。作者称该机器人为Humanoid。<<ETX>>
In this paper, as the first stage of biped walking adapting to an uneven surface using an anthropomorphic biped walking robot, the authors introduce a biped walking control method for adapting to a surface that is called a horizontally composed (HC) plane whose step height is unknown, and a special foot mechanism which is capable of shock absorbtion. The authors developed an anthropomorphic biped walking robot with a foot mechanism and performed walking experiments with the robot using the control method. As a result, adaptive dynamic biped walking over a step of unknown height was realized. The maximum walking speed was 0.96 sec per step with a 0.3 m step length, and the greatest step height was 12 mm. The authors believe that the adaptability is integral to an anthropomorphic robot that will support human living in the near future. The authors call the robot Humanoid.<<ETX>>