期刊文献+

参数化全向步态的设计

下载PDF
导出
摘要 为仿真类人足球机器人设计了参数化全向步态模块。由于仿真类人足球机器人比赛对机器人步态灵活性、实时性的要求,实现该模块的主要思想是在对机器人腿部精确建模基础上,选择参数较少,计算量有限的关节运动轨迹生成方法。 This paper designs all-round movement walking parttern of humanoid robot with the model fromrobocup simulation league.As the requirements for Intelligent Real Time Flexible Walking parttern,this paper choose the way with less parame- ters and limited calculations to generate trajectory based on accurate modeling of legs.
出处 《工业控制计算机》 2014年第3期25-27,31,共4页 Industrial Control Computer
  • 相关文献

参考文献7

  • 1Huang Q, et al. A High Stability, Smooth Walking Pattern for a Biped Robot.Procof ICRA, 1999:65-71.
  • 2陈东辉,佟金,李重焕,张书军,陈秉聪.人和动物的步态与步行机器人[J].吉林大学学报(工学版),2003,33(4):121-125. 被引量:21
  • 3张瑞红,金德闻,张济川,王人成,马琳.不同路况下正常步态特征研究[J].清华大学学报(自然科学版),2000,40(8):77-80. 被引量:29
  • 4Lu-Pg Chao,Ching-Yan Yin.The six-component force sen- sor formeasuring the Loading of the feet in locomotion.Materi- als and Design,1999:237-244.
  • 5Q. Huang, S. Sugano, and K. Tanie, "Stability compensation of a mobilemanipulator by manipulator motion: Feasibility and planning," Adv.Robot., vol. 13, no. 1, pp, 25-40, 1999.
  • 6S. Kajita, H. Hirukawa, K. Yokoi and K. Harada, "Humanoid Robots (Chinese Edition),"Tsinghua University Press, March 2007.
  • 7EmanueleMenegatti,PasanKulvanit and Oskar von StrykRoboCup Soccer Humanoid LeagueRules and Setup[OL].http://www.tzi. de/humanoid/bin/view/Website/WebHome.

二级参考文献16

  • 1NICODEMUS M C, CLAYTON H M. Temporal variables of four- beat, stepping gaits of gaited horses[J]. Applied Animal Behaviour Science ,2003,18:133- 142.
  • 2INIXON M S, CARTER J N, SHUTLER J D, et at. New advances in automatic gait recognition[J]. Information Security Technical Report, 2002, 7(4): 23-35.
  • 3DUYSENS J, VAN DE CROMMERT H W A A. Neural control d locomotion; Part 1: The central pattern generator from cats to humans[ J ]. Gait and Posture, 1998,7:131 - 141.
  • 4NOVACHECK T F. The biomechanics of running[J]. Gait and Posture,1998,7:77 - 795.
  • 5IBUZZI U H, STERGIOU N, KURZ M J, et al. Nonlinear dynamics indicates aging affects variability during gait[J].Clinical Biomechanics, 2003,18:435 - 443.
  • 6SCHMIEDELER J P. The mechanics of and robotic design for quadrupedal galloping[D]. Ph D Dissertation. The Ohio State University, 2001.
  • 7BRACKENBURY J. Fast locomotion in caterpillars[J ]. Journal of Insect Physiology, 1999,45 : 525 - 533.
  • 8IBABIC J, KARCNIK T, BAID T. Stability analysis of four- point walking[J]. Crait and Posture,2001,14:56 -60.
  • 9FURUTA T, TAWARA T, OKUMURA Y, et al. Design and construction of a series of compact bumanoid robots and development of biped walk control strategies[J] .Robotics and Autonomous Systems,2001,37:81 - 100.
  • 10JONKERS I, STEWART C, SPAEPEN A. The study of muscle action during single support and swing phase of gait: clinical relevance of forward simulation techniques[J ]. Gait and Posture,2003,17:97-105.

共引文献45

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部