摘要
提出两足步行机器人运动学建模的一般方法,既适应于平面运动型,也适应于空间运动型。采用这种建模方法,针对作者设计的NAIWR-Ⅰ空间型两足步行机器人,建立了运动学模型,并对逆运动学解和唯一解问题进行了讨论。
A general method of the kinematic modelling of biped robots is put forward in this paper. The method is suitable for 2-dimensional biped robots as well as for 3-dimensional biped robots. Using the method, the authors have set up the kinematic model of NAIWR- I biped robot designed by the authors. The obtained result is audio-visual and reasonable. The problems of the inverse kinematic solution and its unique solution are discussed.
出处
《航空学报》
EI
CAS
CSCD
北大核心
1992年第12期B633-B640,共8页
Acta Aeronautica et Astronautica Sinica
关键词
机器人
运动学
建模
计算
biped robot, kinematic modeling, optimal algorithm