北京科技大学学报2012，Vol.34Issue(1)：59-64,6.
有躯干双足机器人被动行走及其稳定器
Passive dynamic walking of a biped robot with torso and its stabilizer
冯帅 1孙增圻2
作者信息
- 1. 清华大学计算机科学与技术系,北京100084／北京控制工程研究所,北京100190
- 2. 清华大学计算机科学与技术系,北京100084
- 折叠
摘要
Abstract
A simulation model of a biped robot with torso was established using Matlab, the passive dynamic walking of this model was studied, the stability of the walking was analyzed, and a full-state linear feedback walking stabilizer was designed. Simulation results show that the model can walk down a slope without any actuator and there are two unstable walking gaits on the same slope. The results also indicate that the model can realize stable walking by adopting the full-state feedback stabilizer.关键词
双足机器人/被动行走/稳定性/稳定器Key words
biped robots/passive dynamic walking/stability/stabilizers分类
信息技术与安全科学引用本文复制引用
冯帅,孙增圻..有躯干双足机器人被动行走及其稳定器[J].北京科技大学学报,2012,34(1):59-64,6.
