Development of a Biped Walking Robot Adapting to an Unknown Uneven Surface
Development of a Biped Walking Robot Adapting to an Unknown Uneven Surface
复制标题
适应未知不平坦表面的双足行走机器人的研制
DOI：
10.7210/jrsj.14.546
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发表时间：
1996
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;Noboru Kinoshita;A. Takanishi;I. Kato
本文介绍了一种适应未知不平表面的仿人步行控制方法，以及一种具有特殊足机构的仿人步行机器人。仿人步行机器人在动态行走过程中能够获得着陆面的高度和倾角信息。作者进行了自适应步行实验与机器人使用的控制方法。作为
In this paper, the authors introduce a biped walking control method for adapting to an unknown uneven surface, and a biped walking robot which has a special foot mechanism for the control method. The biped walking robot has an ability to acquire, during its dynamic walking, the information of the landing surface's height and angle of inclination. The authors performed adaptive walking experiments with the robot using the control method. As a