摘要
仿生连续体机器人是一种基于章鱼臂、象鼻等生物器官仿生的新型机器人,近年来正逐步成为一个新的研究热点。文中讨论了连续体机器人的运动机理和应用领域,从仿生设计、运动学、动力学与控制等方面详细介绍了其研究现状,指出了目前连续体机器人研究中存在的问题及有待深入研究的方向。
The bionic continuum robot is a kind of new typed robot based on the biological organ simulation of octopus arm and trunk etc. , and has been gradually becoming a new hot-spot of study in recent years. The kinematic mechanism and field of application of the continuous bodied robot were discussed in this paper. Their current situation of research was introduced in detail from the aspects of bionic design, kinematics, dynamics and control etc. , and the existing problems in the current research of continuum robot and the directions remained to be deeply studied had been pointed out.
出处
《机械设计》
CSCD
北大核心
2009年第8期1-6,共6页
Journal of Machine Design
基金
中国博士后科学基金资助项目(20070420160)
机器人技术与系统国家重点实验室开放基金资助项目(SKLRS200705)
