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时间:2020-04-06
《双足步行机器人相关翻译.doc》由会员上传分享,免费在线阅读,更多相关内容在工程资料-天天文库。
1、山东建筑大学毕业论文外文文献及翻译一号,黑体。题目必须二选一:要么是毕业设计,要么是毕业论文正式打印时,将此删除小初,黑体。本科毕业论文小三,TimeNewRoman外文文献及译文小三,宋体,写全称,汉字下同文献、资料题目:WalkingControlalgorithmofBipedHumanoidRobot文献、资料来源:期刊文献、资料发表(出版)日期:1999.6.3小三,TimeNewRoman,数字、字母下同院(部):理学院专业:光信息科学与技术班级:光信112姓名:王若宇学号:指导教师:赵俊卿翻译日期:2015.5.14山东
2、建筑大学毕业论文外文文献及翻译外文文献:WalkingControlalgorithmofBipedHumanoidRobotManystudiesonbipedwalkingrobotshavebeenperformedsince1970[1-4].Duringthatperiod,bipedwalkingrobotshavetransformedintobipedhumanoidrobotsthroughthetechnologicaldevelopment.Furthermore,thebipedhumanoidrobothas
3、becomeaoneofrepresentativeresearchtopicsintheintelligentrobotresearchsociety.Manyresearchersanticipatethatthehumanoidrobotindustrywillbetheindustryleaderofthe21stcenturyandweeventuallyenteraneraofonerobotineveryhome.Thestrongfocusonbipedhumanoidrobotsstemsfromalong-stan
4、dingdesireforhuman-likerobots.Furthermore,ahuman-likeappearanceisdesirableforcoexistenceinahuman-robotsociety.However,whileitisnothardtodevelopahuman-likebipedrobotplatform,therealizationofstablebipedrobotwalkingposesaconsiderablechallenge.Thisisbecauseofalackofundersta
5、ndingonhowhumanswalkstably.Furthermore,bipedwalkingisanunstablesuccessivemotionofasinglesupportphase.Earlybipedwalkingofrobotsinvolvedstaticwalkingwithaverylowwalkingspeed[5,6].Thesteptimewasover10secondsperstepandthebalancecontrolstrategywasperformedthroughtheuseofCOG(
6、CenterOfGravity).HerebytheprojectedpointofCOGontothegroundalwaysfallswithinthesupportingpolygonthatismadebytwofeet.Duringthestaticwalking,therobotcanstopthewalkingmotionanytimewithoutfallingdown.Thedisadvantageofstaticwalkingisthatthemotionistooslowandwideforshiftingthe
7、COG.Researchersthusbegantofocusondynamicwalkingofbipedrobots[7-9].Itisfastwalkingwithaspeedoflessthan1secondperstep.Ifthedynamicbalancecanbemaintained,dynamicwalkingissmootherandmoreactiveevenwhenusingsmallbodymotions.However,iftheinertialforcesgeneratedfromtheaccelerat
8、ionoftherobotbodyarenotsuitablycontrolled,abipedroboteasilyfallsdown.Inaddition,duringdynamicwalking,abipedrob
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