航空学报 > 1992, Vol. 13 Issue (12): 633-640

空间型两足步行机器人的运动学建模研究

谭冠政, 尉忠信, 朱剑英   

  1. 南京航空学院机械工程系 南京 210016
  • 收稿日期:1992-10-20 修回日期:1900-01-01 出版日期:1992-12-25 发布日期:1992-12-25

STUDY ON THE KINEMATIC MODELLING OF 3-DIMENSIONAL BIPED ROBOTS

Tan Guan-zheng, Wei zhong-xin, Zhu Jian-ying   

  1. Department of Mechanical Engineering, Nanjing Aeronautical Institute, Nanjing, 210016
  • Received:1992-10-20 Revised:1900-01-01 Online:1992-12-25 Published:1992-12-25

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。

关键词: 两足步行机器人, 运动学建模, 最优化计算

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.

Key words: biped robot, kinematic modeling, optimal algorithm