双足行走机器人的设计、分析与仿真

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI:10.1109/ROMAN.2014.6926233

Jongwon Park, Young Kook Kim, Byungho Yoon, Kyung-Soo Kim, Soohyun Kim

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引用次数: 2

摘要

腿式系统有望具有出色的移动性。然而，它们在平地上行走的能力并不强。本文介绍了一种以猫后肢为灵感的两足机器人。我们提出了系统的特点，并进行了基于矢量回路方程的位置分析。然后，显示了机器人腿的离地间隙和平行运动。我们提出了一个速度方程，以验证主要参数如何影响速度。此外，我们还探讨了地面速度匹配、加速度、滑移和速度控制的控制策略。动态仿真表明，该双足机器人的腿长达到了每秒13.31条(9.3公里/小时)。这个双足机器人的速度方程及其控制策略使我们能够理解腿的运动，并向我们展示如何提高速度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design, analysis and simulation of biped running robot

Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic leg are shown. We present a speed equation in an effort to verify how the major parameters affect the speed. In addition, we explore control strategies for ground speed matching, acceleration, slip, and speed control. A dynamic simulation shows that the biped robot reached 13.31 leg lengths per second (9.3km/h). This biped robot with the speed equation and its control strategies allow us to understand legged locomotion and can show us how to improve the speed.

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The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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