刘林生, 胡秉巨, 野饲享, 加茂光则. 二足步行机器人三维动步行的双脚支撑期的理论解析及仿真[J]. 机器人, 1994, 16(3): 129-134,139.
引用本文: 刘林生, 胡秉巨, 野饲享, 加茂光则. 二足步行机器人三维动步行的双脚支撑期的理论解析及仿真[J]. 机器人, 1994, 16(3): 129-134,139.
LIU Linsheng, HU Bingchen, Tooru NOGAL, Kousaoku KAMAO. DYNAMIC ANALYSIS AND SIMULATIONS OF 3-DIMEN-SIONAL IN DOUBLE LEGS SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT[J]. ROBOT, 1994, 16(3): 129-134,139.
Citation: LIU Linsheng, HU Bingchen, Tooru NOGAL, Kousaoku KAMAO. DYNAMIC ANALYSIS AND SIMULATIONS OF 3-DIMEN-SIONAL IN DOUBLE LEGS SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT[J]. ROBOT, 1994, 16(3): 129-134,139.

二足步行机器人三维动步行的双脚支撑期的理论解析及仿真

DYNAMIC ANALYSIS AND SIMULATIONS OF 3-DIMEN-SIONAL IN DOUBLE LEGS SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT

  • 摘要: 本文以10自由度二足步行机器人三维动步行的实现为目的,根据动力矩和静力矩的概念,运用S和F非分离的三维力学分析方法,对于双脚支持期的二足步行运动,进行了理论解析和步行仿真,证明了该方法的有效性.

     

    Abstract: In order to realize the three-dimentional stepping of a biped locomotion robot which has ten de-grees of freedom,so that on the concept of dynamic-moment and static-moment the paper analyses and simu-lates biped locomotion in a double legs supporting phase with the three-dimensional mechanical method ofnon-separated S and F. The result shows the analysic method was effective.

     

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