摘要
通过对人的行走方式进行观察,模拟设计了仿人双足机器人,运用DH方法分析其机构,为其设计了具有周期循环性的步态,并把三维实体模型导入到运动分析软件ADAMS中,添加约束驱动等,并进行验证。将仿真结果应用到现实物理样机上,使物理样机能够实现人的行走动作。
On the foundation of the studying of human being＇ s walking style, bipedal robot is designed. By DH method, analyze the mechanical structure is analyzed and the periodic walking style is designed. These are all validat- ed by its 3D entity model with constraints and motions in ADAMS. The simulation results are applied to the physical prototype which can walk like human being＇s in the style.
出处
《机械传动》
CSCD
北大核心
2012年第8期27-30,共4页
Journal of Mechanical Transmission
基金
上海市教育委员会重点学科建设项目资助(J50503)
