Dynamic Locomotion and Mechanism of Biped Walking Robot
Dynamic Locomotion and Mechanism of Biped Walking Robot
复制标题
双足行走机器人的动态运动及机构
DOI：
10.1109/sice.2006.314618
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
--
作者：
H. Lim;Y. Ogura;A. Takanishi
行走型双足机器人（WABIAN-2LL）由于设计具有与人相同的大活动范围，可以模仿人的动作，如膝盖伸展运动和深度弯曲运动。它有两个七自由度的腿和一个二自由度的腰。每条腿由一个三自由度踝关节、一个一自由度膝盖和一个三自由度髋关节组成，以应对人类的行走运动。它的高度约为1.2[m]，重量为40[kg]。同时，提出了如何制作伸直膝盖的步行模式。在行走过程中，腿部运动产生的力矩应被取消。为此，提出了一种基于腰部运动的补偿运动控制算法。通过动态行走实验，验证了双足机器人的有效性
The walking biped robot (WABIAN-2LL) can imitate human motions such as knee-stretching locomotions and deep bending motions because it is designed with large movable ranges as a human. It has two seven degrees of freedom, (DOF) legs and a two DOF waist. Each leg consists of a three DOF ankle, a one DOF knee and a three DOF hip to deal with human walking motion. Its height is about 1.2[m], and its weight is 40[kg]. Also, how to make a knee-stretched walk pattern is proposed. During the walking, moments generated by the motion of the legs should be cancelled. So, a compensatory motion control algorithm, is used which is based on the waist motion. Through dynamic walking experiments, the effectiveness of the biped robot is confirmed
DOI：
10.1109/robot.2000.844132
发表时间：
2000-04
期刊：
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
影响因子：
--
作者：
K. Yamane;Yoshihiko Nakamura
通讯作者：
K. Yamane;Yoshihiko Nakamura
DOI：
--
发表时间：
2004
期刊：
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
Kenji Hashimoto;Yusuke Sugahara;et al.;Yusuke Sugahara. et al.;Yusuke Sugahara. et al.;Yusuke Sugahara. et al.;Yusuke Sugahara. et al.
通讯作者：
Yusuke Sugahara. et al.