国外仿人机器人发展概况

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李允明. 国外仿人机器人发展概况[J]. 机器人, 2005, 27(6): 561-568.. LI Yun-ming. Foreign Status of Humanoid Robot. ROBOT, 2005, 27(6): 561-568..

摘要介绍了国外仿人机器人发展的特点，详细分析了日本、美国和韩国等国几种仿人机器人的主要技术及其技术指标．根据国外的样机设计，作者讨论了仿人机器人各部分自由度的选用，分析了仿人机器人传动和控制设计中的一些问题．就国外仿人机器人发展对中国的启示提出了看法．

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	李允明

关键词 ：仿人机器人, 双足步行, 自由度, 传感器, 视觉

Abstract：The primary techniques and their technical parameters of humanoid robot in Japan,USA and the Republic of Korea are analyzed in detail.Based on the design of foreign sample humanoid,the author discusses the DOF selection of various parts of humanoid robot,analyzes several driving and control issues.The enlightenment to accelerate the development of humanoid robot in China based on overseas development is provided.

Key words： humanoid robot biped walking degree of freedom(DOF) sensor vision

收稿日期: 2005-03-27

TP24

作者简介: 李允明（1936- ），男，博士，教授．研究领域：机器视觉，仿人机器人，机器人传感器．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2005/V27/I6/561

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