从两足机器人到仿人型机器人的研究历史及其问题

THE PROBLEM AND THE RESEARCH HISTORY FROM BIPED ROBOT TO HUMANOID ROBOT

摘要: 本文介绍了从两足机器人发展到仿人型机器人的历史，分析了在自由度、能量最优和碰撞研究的一些研究现状和前景，并对仿人型机器人与两足机器人在运动特性上有所不同提出了一些问题．

Abstract: This paper introduce the developing history from biped robot to humanoid robot, The present state and perspectives of the problems about DOF dispositionenergy and impact are manifested. Some differences about the dynamics characters between biped robot and humanoid robot are also come up in this paper.