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| 双足步行机器人模型解耦及控制 | |
| 引用本文： | 富巍,高大征,陈彦,张武柱. 双足步行机器人模型解耦及控制[J]. 齐齐哈尔大学学报(自然科学版), 1995, 0(2) |
| 作者姓名： | 富巍 高大征 陈彦 张武柱 |
| 作者单位： | 齐齐哈尔轻工学院，齐齐哈尔日报社，齐齐哈尔铁路工程学校 |
| 摘 要： | 本文在双足机器人作平稳步行的假设下，建立了解耦的上身躯和两腿的模型，并基于奇异摄动理论在直角坐标系下给出了平稳步行的控制方法，同时在证明摄动方程稳定的前提下，建立了非线性控制器，解决了快速性和无超调之间的矛盾。 |
| 关 键 词： | 双足步行机器人，平稳步行，悬挂点 |
Model Decoupling and Control of Biped Locomotion Robot |
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| Fu Wei, Gao Dazheng. Model Decoupling and Control of Biped Locomotion Robot[J]. Journal of Qiqihar University(Natural Science Edition), 1995, 0(2) | |
| Authors: | Fu Wei Gao Dazheng |
| Affiliation: | Fu Wei; Gao Dazheng (Qiqihar Light Industry Institute) (Qiqihar Daily Paper Office) Chen Yan; Zhang Wuzhu (The Railway Engineering school in Qiqihar City) |
| Abstract: | Based on the thesis that biped locomotion robot do smoothly walking. thedecoupled models of up -body and two legs are built. And based on singular disturbance theory. the control method of robot's smoothly smoothly walking is given out. And through the stable provement of disturbance equations. The nonlinear controller is built to solve the contradict between quickness and overshoot. |
| Keywords: | Biped locomotion robot Suoothly walking Hanging point |
| 本文献已被 CNKI 等数据库收录！ | |