包志军, 马培荪, 姜山, 程君实, 王春雨. 从两足机器人到仿人型机器人的研究历史及其问题[J]. 机器人, 1999, 21(4): 312-320..
BAO Zhijun, MA Peisun, JIANG San, CHENG Junshi, WANG Chunyu. THE PROBLEM AND THE RESEARCH HISTORY FROM BIPED ROBOT TO HUMANOID ROBOT. ROBOT, 1999, 21(4): 312-320..
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.
1 谭冠政, 朱剑英, 尉忠信. 国内外两足步行机器人研究的历史、现状及发展趋势. 机器人, 1992, 14(3) 2Kazuo Hirai, R&D Co. Lt d. Wako Research Center, C urren tand Future Perspective of Honda of Dynamic Biped Locomotion. Journal of Dynamic Systems,Measurement and Control, JUNE 1987, Vol. 109 155 3 广濑真人, 竹中透, 五味洋, 小泽信明. 人间型¤ヌ. 日本¤ヌ学会志,1997. 15(7):983-985 4 Muybr idge. The Horse in Motionas Shown by Instaneous Photographs. London, England, 1982 5 Berstein N A.Investigations in Biodynamics of Locomotion. Mocow:WIEM,1935, 1 6 顿斯柯伊、扎齐奥尔斯基著, 吴忠贯译. 生物力学. 人民体育出版社, 1982 7 刘志远. 两足机器人的动态行走研究. 哈尔滨工业大学博士学位论文, 1991 8 Takanishi A,Ish ida M,Y amazakiY, Kato I. The Realization of Dynamic Walking by the Biped Wal king Robot WL-10RD.In Proc 1985 Int Conf On Advance Robotics (Tokyo, Japan, Sept.9-10, 1985),495-466 9Furusho J, Masubuchi M.A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion. Journal of Dynamic System, Measurement an d Control,June 1987, 109-155 10 Furusho J. Sensor-bas ed Control of a Nine-link Biped. The Internat ional Journal of Robotic Research,1990, 9(2) 11 Furush o J. Control of a Dynamical Biped Locomotion System for Steady Walking. Journal of Dynamic System, Measurement,and Control,1986, 108 12 Shuuji Kajita, Tomio Yamaura, Akira Kobashi. Dynamic Wal king Control of a Biped Robot Alonga Potential Energy Conserving Oribit.IEEET ransactions on Automation, 1992, 84 13 Zheng Y F, Sias F R Jr. Design and Motion Control of Pratical Biped Robots. Proc IASTED Int Symp Robotics and Automation, StBarbara, CA, May 1987:166-170 14 Yuan F Zheng. Reinforcement Learning for a Biped Robot to Climb Sloping Surface. Journal of Robotic System, 1997,14(4) 15 Mac Geer T.Passive Dynamic Walking. Int J of Robotics Research, 1990, 9(2):62-82 16 竺长安. 两足机器人系统分析、设计及运动控制. 中国国防科学技术大学博士学位论文, 1989 17 马宏绪. 两足步行机器人动态步行研究. 中国国防科学技术大学博士学位论文, 1995 18 Kazou Hirai, Masato Hirose, Yuji Haikawa, Toru Takenaka. The Development of Honda Humanoid Robot,0-7803-4300-x-5/98$10.00(c) 1998 IEEE 19 Yasou Kuniyoshi, Akihiko Nagakubo. Humanoid Interaction Laboratory. Intel ligent Systems Division, Electrotechnical Laboratory, ATST, MITI, Japan, Proc. IROS970-7803-4119-8/9/97/$10(c)1997IEEE 20 Masayuki IN BA, Takashi IGARASHI, Satoshi KAGAMI & Hirochika INOUE. A35DOF Humanoid that can Coordinate Arms and Legs in Standing up. Reaching and Grasping an Object.Annual Report of Inoue/Inaba Laboratory, 21 Fumio Kanehiro, Masayuki INBA,Hirochika INOUE. Development of a Two-Armed Bipedal Robot that can Walk and Carry Object,Annual Report of Inoue/Inaba Laboratory, 1996 22 方亚彬, 陈秉聪等. 仿人步行二足机器人的研制. 机器人, 1994, 16(1) 23 内海真, 加藤隆, 山川新二. 内骨格式2足步行 ¤ヌN 机械开发. 日本¤ヌ学会志,1998, 16(4):491-498 24 M.伍科布拉托维奇著, 马培荪, 沈乃熏 译. 步行机器人和动力型假肢. 科学出版社, 1983 25 Fred R,Sias Jr, Yuan F Zheng. How Many Derees-of-freedom Doesa Biped Need. IEEE International Works hopon Intelligient Robots and System IROS' 90 26 Kumar A,Waldron K J.The Workspace of a Mechanical Manipulator. Journal of Mechanical Design, 1981, 103:665-672 27 Ma Peisun, Xu Peijun, Xu Xiaofeng. Research of Kinematic Characteristics for Quadruped Walking Vehicle with Legs of Different Dispositions of DOFS.Chinese Journal of Mechanical Engineering, 1994, 7(4) 28 Chao Su, Yuan F Zheng. Task Decomposition for Multilimbed Robots to Work in The Reachable-butunorient ble Space 29 袁群明. 动态步行的运动分析及控制研究. 清华大学博士学位论文, 1992 30 Chow C K, Jacobson D H. Studies of Human Locomotion Via Optimal Programming. Mathematical Biosciences, 1971,10:239-306 31 田继廉, 华谟诤. 步行机器人的结构图与步态. 机械工程 1993年第4期 32 李元宗, 王跃国. 双足步行机器人动态直线步行运动的规划. 机器人, 1992, 14(6) 33 李宗元, 王跃国. 双足步行机器人动态直线步行运动的规划. 机器人, 1992, 14(6) 34 Ching-long Shih. Control for a Biped Robotin the double-support phase. IEEE Transon System,Man and Cybernetics,1992, 22(4) 35 PHILIPPE GO R CE, O LIVIER VAN EL.Behaviour Synthes is of the Erect Stance for a Biped Control.Journal of Intelligent and Robotic Systems,1997, 18:127-145 36Ching-long Shih. Gait Synthesis for a Biped Robot. Robotica,1997, 15 37 David E Hardt,Robort W Mann, A Five Body-Three Dimentional Dynamic Analysis of Walking. J Biomench anics,1980, 13:455-457 38Hemami H, yman B F. Modeling and Control of Constrained Dynamic Systems With Application to Biped Locomotion in the Frontal Pl ane. IEE E Trans Aut yomat Contr, 1979, AC-24(4):526-535 39 Ching-long Shih.G ait Synt hesis f or a Biped R obot. R ob ot ica, 1997, 15 40Ching-L on g S hih, Y un Zh u, W ill iam A Gru ver. O ptim ization of t he Biped R obot T rajectory, ISSN#0-7803-0233-8/ 91$1 00(c) 1991 IEE E 41 Channon P H. Derivation of O pt imal Walk ing M otion s for a Bipedal W al king Robot.Robot ica, 1992, 10 42Yen V, N agurka M L. S ubopt imal T raject ory Planning of a Five-link Human Locom otion M odel. Biom echan ics of N ormal and Prost het ic Gait s, Bost on, M A 1987, A SM E W int er A nnual M eet ing, 1987: 17-20 43 Faure F. A n Energy-based M eth od f or Cont act Force Com put at ion. In Proceedings of Eur pgraph ics '96. Comp uter G raph ics Forum,1996, 15: 357-366 44 Cheval lereau C, For mal's kyu A,Perrin B. Low Energy Cost Reference Trajectories For a Biped Robot.Proceedings of the 1998 IEEE Int ernation al Conf er ence on R obot ics & A u tomat ion Leuven, Belgiu m M ay 1998 45Simon M ochon, Thom as A M cM ah on. Ballis t ic Walkin g J Biomench anics.1980, 13: 49-57 46 Nilsson J, Thorstensson A,Halbertsam J.Changesin Leg Movements and Mulse Activity with Speed of Locomotion and Mode of Progression in Humans Acta Physiol Scand, Pages, 1985:457-475 47 Taylor C R. Why Change Gaits:Recruitment of Mulses and Mulse Fibers as a Function of Speed and Gait, American Zoology,1978, 18:153-161 48 范同乇. 现代控制理论. 上海交通大学出版社, 1984 49 Michael Brady,李先京, 刘景泰, 安刚 译. 机器人所面临的问题. 机器人, 1989,3(4) 50 YUAN-FANG ZHEN G,HEMAMI. Impact Effects of Biped Contact with the Environment.IEE Transactions on System, Man, and Cybernetics, 1984, SMC-14(3) 51 Light L H, McLell an H G,K lenerman L. Skeletal Transients on Heel Strikein Normal Walking with Different Footwear. J Biomenchanics,1980, 13: 477-480