| 空间型两足步行机器人的运动学建模研究 |
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| 引用本文： | 谭冠政,尉忠信,朱剑英.空间型两足步行机器人的运动学建模研究[J].航空学报,1992,13(12):633-640. |
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| 作者姓名： | 谭冠政 尉忠信 朱剑英 |
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| 作者单位： | 南京航空学院机械工程系，南京航空学院机械工程系，南京航空学院机械工程系 南京 210016，南京 210016，南京 210016 |
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| 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。
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| 关 键 词： | 两足步行机器人 运动学建模 最优化计算 |
STUDY ON THE KINEMATIC MODELLING OF 3-DIMENSIONAL BIPED ROBOTS |
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| Tan Guan-zheng,Wei zhong-xin,Zhu Jian-ying.STUDY ON THE KINEMATIC MODELLING OF 3-DIMENSIONAL BIPED ROBOTS[J].Acta Aeronautica et Astronautica Sinica,1992,13(12):633-640. |
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| Authors: | Tan Guan-zheng Wei zhong-xin Zhu Jian-ying |
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| Institution: | Department of Mechanical Engineering, Nanjing Aeronautical Institute, Nanjing, 210016 |
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| Abstract: | 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. |
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| Keywords: | biped robot kinematic modeling optimal algorithm |
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