特殊外骨骼的拟人化行走设计

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI:10.1109/RAAD.2014.7002250

Alexander A. Ptakhin, A. Aliseychik, I. Orlov, V. Pavlovsky

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引用次数: 2

摘要

工作涉及两足机械系统，即所谓的外骨骼。这项工作的总体目的是构建类似于人类行走的外骨骼运动控制。研究了基于运动捕捉技术的运动学综合、求解控制转矩的直接动力学问题、全控制系统在物理建模程序中对所构建系统的阐述和验证等问题。

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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Anthropomorphic walking design for special exoskeletons

Work deals with biped mechanical systems, so called exoskeletons. General purpose of this work is to construct control for exoskeleton motion similar to human walking. In the work the following problems are considered: kinematics synthesis based on motion capture technology, solving direct dynamics problems for finding control torques, full control system elaborating and verifying constructed system in a program of physical modeling.

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来源期刊

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

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