王立权, 俞志伟. 双足机器人HEUBR_1样机研制与实验研究[J]. 机器人, 2009, 31(5): 453-459..
WANG Liquan, YU Zhiwei . Experimental Study and Prototype Development of Biped Robot HEUBR1. ROBOT, 2009, 31(5): 453-459..
Abstract:A space parallel mechanism with two degrees of freedom is designed for biped robot HEUBR 1 by simulating the driving manner of human muscle.The proposed mechanism is applied to the lower limb joints of biped robot HEUBR 1, and a new kind of hybrid serial-parallel humanoid lower limb is realized.With toe joints added to the feet of HEUBR 1, the robot can simulate walking manner of human and realize the real humanoid gait walking.The key technologies of stable humanoid walking for biped robot HEUBR 1 are expatiated,comprehensive stability criterion is presented,and various kinds of humanoid gaits are analyzed.The experimental analysis on humanoid gait show that the humanoid structural design is reasonable and the humanoid gait analysis is correct in biped robot HEUBR 1's hybrid serial-parallel design.
[1] Chestnutt J,Lau M,Cheung G,et al,Footstep planning for the Honda ASIMO humanoid[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2005:629-634.
[2] Endo G,Nakanishi J,Morimoto J.et al.Experimental studies of a neural oscillator for biped locomotion wim QRIO[C]//Proceedings of the IEEE International Confe-rence on Robotics and Automation.Piscataway,NJ.USA:IEEE,2005:596-602.
[3] Nishiwaki K,Kagami S,Kuniyoshi Y,et al.Toe joints that enhance bipedal and fullbody motion of humanoid robots[C]//Proceedings of the 2002 IEEE International Conference on Robotics and Automation.Piscataway,NJ.USA:IEEE,2002:3105-3110.
[4] 赵晓军,黄强,彭朝琴,等.基于人体运动的仿人型机器人动作的运动学匹配[J].机器人,2005,27(4):358-361,379.Zhao Xiaojun,Huang Qiang,Peng Zhaoqin,et al.Kinematics mapping of humanoid motion based on human motion[J].Robot,2005,27(4):358-361,379.
[5] Lim H,Takanishi A.Biped walking robots created at Waseda University:WL and WABIAN family[J].Philosophical Transactions of the Royal Society London,Series A:Mathematical,Physical and Engineering Sciences,2007,365(1850):49-64.
[6] Vukobratovic M,Borovac B.Zero-moment point-Thirty five years of its life[J].International Journal of Humanoid Robotics,2004,1(1):157-173.
[7] 付成龙,陈恳.五杆四驱动平面双足机器人动态步态规划与非线性控制[J].机器人,2006,28(2):206-212.Fu Chenglong,Chert Ken.Gait planning and nonlinear control of dynamic walking for a five-link,four-actuator,planar biped robot[J].Robot,2006,28(2):206-212.
[8] Talebi S,Poulakakis I,Papadopoulos E,et al.Quadruped robot running with a bounding gait[M].Experimental Robotics VH.Berlin,Germany:Springer-Verlag,2001:281-289.
[9] Schiehlen w.Energy-optimal design of walking machines[J].Multibody System Dynamics,2005,13(1):129-141.