石宗英, 徐文立, 冯元琨, 方海军. 仿人型机器人动态步行控制方法[J]. 机器人, 2001, 23(6): 569-574.
引用本文: 石宗英, 徐文立, 冯元琨, 方海军. 仿人型机器人动态步行控制方法[J]. 机器人, 2001, 23(6): 569-574.
SHI Zong-ying, XU Wen-li, FENG Yuan-kun, FANG Hai-jin. CONTROL METHODS OF DYNAMIC WALKING FOR HUMANOID ROBOT[J]. ROBOT, 2001, 23(6): 569-574.
Citation: SHI Zong-ying, XU Wen-li, FENG Yuan-kun, FANG Hai-jin. CONTROL METHODS OF DYNAMIC WALKING FOR HUMANOID ROBOT[J]. ROBOT, 2001, 23(6): 569-574.

仿人型机器人动态步行控制方法

CONTROL METHODS OF DYNAMIC WALKING FOR HUMANOID ROBOT

  • 摘要: 本文介绍了仿人型机器人动态步行的一些基本问题和相关概念.从信息和控制的角度对近年来仿人型机器人动态步行研究中出现的步态规划和姿态控制方法进行了分析,并指出了它们的特点.提出了先进仿人型机器人实现过程中值得进一步研究的问题.

     

    Abstract: In this paper, the basic issues and the related concepts about the dynamic walking of humanoid robots are described. From viewpoints of information and control the various methods of gait planning and posture control for dynamic walking are analyzed, and their advantages and shortcomings are pointed out, respectively. Some chanllenging subjects to study in this field are presented for realizing the sophisticated humanoid robots.

     

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