现代制造工程Issue(10)：23-27,5.
仿人双足机器人的设计与实现
Design and implementation of the bionic bipedal robot
摘要
Abstract
By studying of human being' s walking style,bipedal robot is designed. D-H method is used to analyze its mechanical structure and periodic walking style is designed. These are all validated by its 3D entity model with constraints and motions in ADAMS. Physical prototype can walk in the style like human being' s walking style by using simulation result.关键词
双足机器人/约束/ADAMS软件/步态规划/零力矩点Key words
bipedal robot /constraints/ ADAMS/ gait programming/ Zero Moment Point(ZMP)分类
信息技术与安全科学引用本文复制引用
宫赤坤,张智斌..仿人双足机器人的设计与实现[J].现代制造工程,2012,(10):23-27,5.基金项目
上海市教育委员会重点学科建设资助项目(J50503) （J50503）
