双足被动步行研究综述

毛勇, 王家廞, 贾培发, 韩灼

毛勇, 王家廞, 贾培发, 韩灼. 双足被动步行研究综述[J]. 机器人, 2007, 29(3): 274-280.
引用本文: 毛勇, 王家廞, 贾培发, 韩灼. 双足被动步行研究综述[J]. 机器人, 2007, 29(3): 274-280.
MAO Yong, WANG Jia-xin, JIA Pei-fa, HAN Zhuo. Passive Dynamic Biped Walking: A Survey[J]. ROBOT, 2007, 29(3): 274-280.
Citation: MAO Yong, WANG Jia-xin, JIA Pei-fa, HAN Zhuo. Passive Dynamic Biped Walking: A Survey[J]. ROBOT, 2007, 29(3): 274-280.

双足被动步行研究综述

详细信息
    作者简介:

    毛勇(1979- ),男,博士生.研究领域:双足机器人,被动步行,步态规划.
    王家廞(1942- ),男,教授.研究领域:机器人控制,智能控制,虚拟现实,模式识别等.
    贾培发(1946- ),男,教授.研究领域:智能控制,智能机器人,虚拟现实等.

  • 中图分类号: TP24

Passive Dynamic Biped Walking: A Survey

  • 摘要: 总结了被动步行的特点和研究现状,介绍了几款国外主要的被动步行机器人的机构设计和驱动系统设计,对被动步行研究中的稳定性问题、能量优化问题以及控制和学习方法进行了综述,并指出了被动步行领域的研究难点和未来研究方向.
    Abstract: This paper surveys the current status and characteristics of passive dynamic walking.The mechanical structures and driving system designs of several passive walking robots are given.The research methods for the stability,energy efficiency and control scheme of passive bipeds are overviewed.To conclude,this paper points out the main difficulties and the future works in this field.
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出版历程
  • 收稿日期:  2006-05-22

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