双足步行机器人的下肢机构自由度分析

Biped Robot Degree of Freedom of the Lower Limb

为了设计出一种即经济简单又能满足功能要求的步行机器人,在分析了步行运动状态的基础上,确定了双足步行机器人下肢机构自由度的分配。

In order to design a simple and that the economy can meet the functional requirements of the walking robot,the analysis of walking exercise on the basis of the state to determine the degree of freedom biped walking robot distribution of lower extremity.