| 两足步行机器人动态步行规划及仿真 |
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| 引用本文： | 蒙运红,傅祥志.两足步行机器人动态步行规划及仿真[J].华中科技大学学报(自然科学版),1999,27(3):39. |
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| 作者姓名： | 蒙运红 傅祥志 |
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| 作者单位： | 华中理工大学机械科学与工程学院 |
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| 摘 要： | 根据双足步行机器人动态步行过程中必须满足的动态关系式，提出了动步态规划的两步规划法，从而既满足了机器人步行过程中的基本要求，又保证了系统能够实现动态协调运动.在此基础上，对无冲击步行机器人动态步行过程进行了规划和仿真.结果表明，两步规划法满足了动态步行的要求.
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| 关 键 词： | 双足步行机器人 运动规划 运动综合法 |
| 修稿时间： | 1998-01-08 |
The Biped and Dynamic Locomotion Synthesis and the Computer Simulation |
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| Meng Yunhong,Fu Xiangzhi.The Biped and Dynamic Locomotion Synthesis and the Computer Simulation[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1999,27(3):39. |
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| Authors: | Meng Yunhong Fu Xiangzhi |
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| Abstract: | The dynamics characteristics of the bipedal dynamic walking robot are investigated
thoroughly. A Special programming package of the dynamic model of the robotic mechanism. The
method of biped locomotion plan has been studied. On the basis of this, it is advanced that the
algorithmic control can solve teh problem of the realization of the artificial bipedal dynamic
locomotion by means of a combination the locomotion synthesis of the prescribed synergy with
kinematic plan. The control method is used in the realization of the impactless bipedal walking
successfully. |
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| Keywords: | bipedal walking robotic kinematic plan locomotipn synthesis |
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