仿人步行二足机器人的研制

RESEARCH ON A BIPED ROBOT IMITATING HUMAN WALKING

  • 摘要: 本文介绍一种关节采用滑块-摆杆机构的仿人步行二足机器人.该机器人具有12个自由度,动力源为12个伺服电机,每个伺服电机都配有相应的轴角编码器.机器人的脚上装有力传感器,身体上装有电子陀螺.机器人的步行由计算机控制.

     

    Abstract: In this paper,a biped robot imitating human walking is introduced with joints of slide-followermechanisms. The Biped robot has 12 degrees of freedom.It's power sources are 12 servomotors with rotaryencoders for oneself. The artificial attitude sensors and foot-force sensors are installed on the body and feet ofthe biped robot. The walking of the biped robot can be controlled by a computer system.

     

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