摘要
步行控制是仿人机器人最重要的技术之一,是仿人机器人实现最基本的类人动作的关键。从步态规划和步态控制两方面综述了仿人机器人步行控制的研究现状,对已有的典型步态规划和步态控制方法进行了分析与比较,并展望了仿人机器人步行控制的研究方向。
Walking control is one of the most important technologies for humanoid robot, which is the key point to realize elementary hominine action. The study state of walking control strategies for humanoid robot was summarized from the aspects such as walking pattern planning and walking control. Some classical methods on walking pattern planning and walking control were analyzed and compared. The research prospects were described.
出处
《机床与液压》
北大核心
2011年第23期154-159,共6页
Machine Tool & Hydraulics
关键词
仿人机器人
步态规划
步态控制
Humanoid robot
Walking pattern planning
Walking control
