摘要
对仿生人类腰部以下结构,设计一种关节型双足机器人。构建其行走与站立两种基本运动的运动学模型,通过逆运动学分析对其关键数值进行解算。实验验证了机器人设计及运动分析的合理性。
A joint biped robot simulating human body down from waist is designed. The kinematics models of walking and standing are constructed, and the key values are solved in inverse kinematics analysis. The experimental results show that the robot can walk as expected, which proves the rationality of robot design and motion analysis.
作者
王雄
张菁
WANG Xiong;ZHANG Jing(Yulin University,Yulin 719000,China)
出处
《机械制造与自动化》
2022年第2期169-171,176,共4页
Machine Building & Automation
基金
榆林市科技局产学研合作项目(2019-85-2)。
