摘要
仿人机器人是研究人类智能的高级平台,它是综合机械、电子、计算机、传感器、控制技术、人工智能、仿生学等多种学科的复杂智能机械,目前已成为机器人领域的研究热点问题之一。对国内外仿人机器人研究现状进行广泛调研,其中日、美等国在研制仿人机器人方面做了大量的工作,中国各高校也积极研究,取得了突破性进展。概括并分析机器人自由度配置、步态规划的分类、基于零力矩点的稳定性判据、传感器的分类和应用以及机器人控制系统等关键技术。
Being an advanced platform for researching human intelligence, the humanoid robot is complex and intelligent machinery integrating mechanics, electronics, computer, sensors, control technology, artificial intelligence, bionics and other disciplines. The humanoid robot has now become hot issues in the field of robot research. The domestic and foreign research status of humanoid robot is widely surveyed. A lot of research work on humanoid robot has been done in Japan and America. Meanwhile, Chines e universities are making active research and have made breakthrough progress. The configuration of freedom of humanoid robot, the classification of gait planning, the stability criteria based on zero moment point, the classification and application of sensors and robot control system are summarized and analyzed.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2009年第3期71-75,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金(50875027
50775012)
国家高技术研究发展计划(863计划
2007AA04Z211)资助项目
关键词
仿人机器人
自由度
步态规划
零力矩点
Humanoid robot Degree of freedom Gait planning Zero moment point