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仿生机器人运动建模与控制研究进展 被引量：1

A survey of research on modeling and control for biomimetic robot locomotion
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摘要 综述了几何方法在仿生机器人运动建模和控制中应用的最新成果,探讨了在统一框架下处理多种机器人运动问题的可行性. This paper givesa survey of research on modelingand control for biomimetic robot locomotion, and emphasizes on studying various robot locomotion in a unified frame.
作者 杨明 王硕 王德石
机构地区 中国兵器工业系统总体部 中国科学院自动化研究所复杂系统与智能科学重点实验室 海军工程大学兵器工程系
出处 《海军工程大学学报》 CAS 北大核心 2005年第1期1-6,27,共7页 Journal of Naval University of Engineering
基金 国家自然科学基金资助项目(10272113 50275146) 国家高技术研究发展计划(863 计划)机器人技术主题(2001AA422370)
关键词 几何方法 仿生机器人 微分几何 非完整约束 geometry methods biomimetic robot differential geometry nonholonomic constraints
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献38

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二级参考文献30

  • 1Shugen Ma. Analysis of Snake Movement Form for Realization of Snake-like Robots. IEEE Conference on Robotics and Automation,Detroit, Michigan, May, 1999
  • 2Burdick J W, Radford J, Chirikjian G S. A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots. IEEE Conference on Robotics and Automation, 1993
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  • 4Togawa K, Mori M, Hirose S. Study on Tree-dimensional Active Cord Mechanism: Development of ACM-R2. IEEE International Conference on Intelligent Robots and Systems, 2000
  • 5Chirikjian G S, Burdick J W. Design and Experiment with a 30 DOF Robot. IEEE Conference on Robotics and Automation, 1993
  • 6Pamecha A, Ebert-Uphoff I, Chirikjian G S. Useful Metrics for Modular Robot Motion Planning. IEEE Conference on Robotics and Automation, 1993
  • 7Bayratarogllu Z Y, Butel F. A Geometrical Approach to the Trajectory Planning of a Snake-like Mechanism. IEEE International Conference on Intelligent Robots and Systems,1999
  • 8Poi G, Scarabeo C, Allotta B. Traveling wave locomotion hyper-redundant mobile robot. IEEE Conference on Robotics and Automation, 1998
  • 9Kyriakopoulos K J, Migadis G, Sarrigeorgidis K. The NTUA Snake: Design. Planar Kinematics, and Motion Planning. Journal of Robotic Systems,1999,16(1): 37-72
  • 10Paap L K, Dehlwisch M, Klaassen B. GMD-Snake: A Semi-Autonomous Snake-like Robot. 3rd International Symposium on Distributed Autonomous Robotic Systems,1996

共引文献143

同被引文献13

引证文献1

二级引证文献15

海军工程大学学报
2005年 第1期

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