动态稳定双足行走系统的设计与开发

2014 International Conference on Advances in Engineering & Technology Research (ICAETR - 2014) Pub Date : 2014-08-01 DOI:10.1109/ICAETR.2014.7012844

Kaustubh Masurkar, Harshad C. Kamble, S. Ohol, Vinayak Joshi

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引用次数: 1

摘要

在世界范围内，双足行走已经有了很大的发展。两足行走是机器人控制领域中一个非常复杂的问题。本文介绍了仿人机器人双足系统的(小尺度)设计与实现。该系统是为自主机器人设计的，每条腿有13个自由度，髋关节3自由度，膝关节1自由度，踝关节2自由度。本工作的目的是设计双足步行系统的原型。控制策略在MATLAB环境下的实现与实现。适用于直线和斜面行走。

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 and development of dynamically stable bipedal walking system

There has been a lot of development in Biped walking around the world. Biped walking is a very complex problem in robotics and control domain. This paper describes the (small scale) design and implementation of bipedal system for humanoid. The system is intended for an autonomous robot, and has a total of 13 degrees of freedom of with 3 DoF for hip joint, 1 Dof for knee joint and 2 DoF for ankle joint for each leg. The objective of this work is to design bipedal walking system prototype. Realization and implementation of control strategy in MATLAB environment. for straight and inclined plane walking.

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2014 International Conference on Advances in Engineering & Technology Research (ICAETR - 2014)

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