頁籤選單縮合
題 名 | Experimental Dynamic Walking of a Seven Degrees-of-Freedom Biped Robot=二足步行機器人之動態步行實驗 |
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作 者 | 施慶隆; 薄占平; | 書刊名 | Proceedings of the National Science Council : Part A, Physical Science and Engineering |
卷 期 | 22:1 1998.01[民87.01] |
頁 次 | 頁35-47 |
分類號 | 448.94 |
關鍵詞 | 二足步行機器人; Biped robot; Dynamically stable walking; Motion control; |
語 文 | 英文(English) |
中文摘要 | 本文實作一具能以動態平衡步行的二足步行機器人,此二足步行機器人有七個自 由度,其機構主要包括兩個可伸縮的腳,及包含左右平移滑塊的身軀。其步行的方法是利用 動力學,規劃並控制其身軀及雙腳之軌跡以保持平衡。本文主要的貢獻在於高效率、低能量 之步行規劃,以及實驗的驗證。在平坦地面,此步行機能以每秒二十公分之速度運動。 |
英文摘要 | The motivation of this work was to synthesize a smooth and energy-optimized walking pattern for a seven degrees-of-freedom biped robot walking on an even floor. The biped's walk is realized by tracking control of the planned trajectory. The biped robot achieved walk initiation and continuous walking back and forth, and the biped can walk with a speed of 20 cm/second on even floors. The contributions of this work are: (1) the results of experiments on a seven degress-of-freedom prototype biped, which is capable of walking in a dynamically stable manner, are presented, (2) the synthesis of an energy-optimized walking gait is proposed, and (3) the reasoning behind the local PD feedback loop justifies statisfactory performance. |
本系統中英文摘要資訊取自各篇刊載內容。