温旭, 石宗英, 钟宜生, 杜继宏. 基于SERCOS总线的两足步行机器人分布式运动控制系统[J]. 机器人, 2001, 23(5): 416-420..
WEN Xu, SHI Zong-ying, ZHONG Yi-sheng, DU Ji-hong. DISTRIBUTED MOTION CONTROL SYSTEM OF BIPED WALKINGROBOTS BASED ON SERCOS. ROBOT, 2001, 23(5): 416-420..
Abstract：The development of motion control systems of biped walking robots is reviewed in the paper, and a new kind of communication system-SERCOS is introduced. SERCOS can undertake real time and have high transmission speed. It is fit for the harmonious motion control of multiple axles and for realizing the distributed motion control system of biped walking robots. The design of that control system is made and its advantages are stated.
[1] 马培荪译.[南]伍科布拉托维奇. 步行机器人和动力学假肢. 科学出版社, 1983 [2] 赵雁南等. 现场总线和开放的机器人控制系统. 机器人, 1999,11: 615 [3] 包志军等. 从两足机器人到仿人型机器人的研究历史及其问题. 机器人, 1999,7: 312 [4] 机器人与控制技术. 诸静编著. 浙江大学出版社 [5] 方亚彬,陈秉聪等. 仿人步行二足机器人的研制. 机器人, 1994.1 [6] 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 [7] 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 [8] 阳宪惠. 现场总线技术及其应用. 清华大学出版社, 1999 [9] Hirai K The Honda humanoid robot: development and future perspective Industrial Robot, 1999,26(4) 260-266 [10] Furusho J, Masubuchi M. A Theoretically Motivated Reduced Order Model for the Control of Dynamic BipedLocomotion. Journal of Dynamic System, Measurementand Control, June 1 987, 109/155. [11] Furusho J. Sensor-based Control of a Nine-link Biped. The International Journal of Robotic Research, 1990,9(2)
