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仿人双足机器人上楼梯轨迹规划及实现 被引量:1

Trajectory planning and implementation of humanoid robot upstairs
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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上楼梯步态,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,进行验证。将仿真结果应用到现实物理样机上,使物理样机实现了人的上楼梯动作。
出处 《制造业自动化》 北大核心 2012年第19期108-111,共4页 Manufacturing Automation
基金 上海市教育委员会重点学科建设项目资助(J50503)
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