中国机械工程2012，Vol.23Issue(5)：505-514,10.
浅析BigDog四足机器人
Brief Analysis of a BigDog Quadruped Robot
摘要
Abstract
Based on the current technical information of a BigDog quadruped robot which was released,the overall profile and the core technology of the BigDog robot were analyzed herein.Structural characteristics,motion characteristics and high power density issues arising from these were analyzed emphatically in the mechanical system.The basic components of the BigDog＇s hydraulic drive system were analyzed briefly.Biomimetic structure defects restricted the BigDog＇s maneuverability to further promotion.In rough terrain,the motion control of BigDog firstly depends on the detection of body posture and perception of the terrain.Security posture is the prerequisite for BgDog＇s continuous longitudinal motion.The basic walking control algorithm was analyzed briefly.The output characteristics of the hydraulic system just meet BigDog＇s dynamic requirements.Control implementation process was known by analyzing several typical states of motion.Navigation system of BigDog,in particular fully autonomous navigation part is the emphasis.In unstructured environments,the intelligence of mobile robot mainly depends on the design of navigation system.At last,based on author＇s research experience on quadruped robot,some suggestions of the research and development on the quadruped robot were proposed.关键词
BigDog四足机器人/液压执行器/仿生学/运动控制/导航/LittleDogKey words
BigDog quadruped robot/hydraulic actuator/bionics/locomotion control/navigation/LittleDog分类
信息技术与安全科学引用本文复制引用
丁良宏,王润孝,冯华山,李军..浅析BigDog四足机器人[J].中国机械工程,2012,23(5):505-514,10.基金项目
国防基础科研项目(A2720060275) （A2720060275）
