双足步行机器人下肢最小结构的设计与实现

Design and implementation of the minimum lower limb mechanism of biped walking robot

近年来,随着电子、计算机和控制技术的不断进步,出现了各种仿生机器人,如机器鱼、机器蛇、机器狗、人形机器人等。仿生机器人的结构和人类非常相似,双足行走的模式使其工作起来非常方便,运用前景非常广阔。研究双足机器人不仅具有学术意义,而且具有实际应用价值。文章主要从国内研究现状、人体下肢机构分析、动力源选择、自由度确定、系统介绍、未来的研究方向几个方面进行了阐述,希望对我国双足步行机器人的发展有所帮助。

In recent years, with the continuous progress of electronics, computer and control technology, there have been various bionic robots(robotic fish, robotic snake, robotic dog, humanoid robot, etc.). The structure of humanoid robot is very similar to human beings. The bipedal walking mode makes it very convenient to work, so its application prospect is very broad. The research on biped robot not only has academic significance, but also has practical application value. This paper mainly expounds the domestic research status, human lower limb mechanism analysis, power source selection, degree of freedom determination, system introduction and future research direction, hoping to be helpful to the development of biped robot in China.