双足跑步机器人控制方法研究概述

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黄元林, 付成龙, 王健美, 陈恳. 双足跑步机器人控制方法研究概述[J]. 机器人, 2009, 31(4): 370-377.. HUANG Yuan-lin, FU Cheng-long, WANG Jian-mei, CHEN Ken. A Survey of the Research on Control Methods for Biped Running Robot. ROBOT, 2009, 31(4): 370-377..

摘要综述了双足跑步机器人的研究历史、研究内容和进展以及未来研究方向．首先系统介绍了目前已实现跑步的双足机器人平台．随后归纳和讨论了双足跑步控制策略和跑步运动的稳定性判定方法；还介绍了跑步步态模式规划以及走、跑步态模式转换的研究进展．最后探讨了双足跑步机器人的研究方向．

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	黄元林
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	陈恳

关键词 ：双足机器人, 跑步, 控制策略, 稳定性判据, 步态规划

Abstract：This paper reviews the research history,contents and future directions of biped running robot.A systematic introduction about biped running platforms is given first.Then the control strategies and determining method for stability criterion of biped running are summarized and discussed,and the running gait mode planning and its transition with walk are also introduced.Finally,the future research work about biped running robot is discussed.

Key words： biped robot run control strategy stability criterion gait planning

收稿日期: 2008-06-30

TF24

基金资助:国家863计划资助项目（2006AA04Z253）；国家自然科学基金资助项目（50575119，50805082）；教育部博士点基金资助项目（20060003026）；摩擦学国家重点实验室自主研究课题

作者简介: 黄元林（1975- ），男，博士生，讲师．研究领域:机器人与仿生学，结构动力学．
付成龙（1980- ），男，博士，助理研究员．研究领域:双足机器人，仿生机器人，机器人智能控制．
王健美（1981- ），女，博士生．研究领域:机器人与仿生学．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I4/370

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