CAJ | 학술논문

为了增强机器人的行走效率,使机器人的步态更自然,并有助于机器人实现复杂的运动,在双足行走机器人中加入可控的柔性.在概述柔性可控双足行走机器人发展背景的基础上,介绍国内外基于主动控制和基于被动行走的2类柔性可控双足行走机器人的研究现状,针对目前柔性可控双足行走机器人面临的4大主要问题,提出其未来的发展趋势,主要包括:将柔性驱动器应用到柔性可控的双足行走机器人中;研究控制柔性的方法;将双足机器人与生物学研究相结合;在假肢、外骨骼等辅助行走设备中应用可控柔性.该研究可为实现效率高、步态自然、实用性强的双足行走机器人提供相关理论、方法及技术支持.
위료증강궤기인적행주효솔,사궤기인적보태경자연,병유조우궤기인실현복잡적운동,재쌍족행주궤기인중가입가공적유성.재개술유성가공쌍족행주궤기인발전배경적기출상,개소국내외기우주동공제화기우피동행주적2류유성가공쌍족행주궤기인적연구현상,침대목전유성가공쌍족행주궤기인면림적4대주요문제,제출기미래적발전추세,주요포괄:장유성구동기응용도유성가공적쌍족행주궤기인중;연구공제유성적방법;장쌍족궤기인여생물학연구상결합;재가지、외골격등보조행주설비중응용가공유성.해연구가위실현효솔고、보태자연、실용성강적쌍족행주궤기인제공상관이론、방법급기술지지.
In order to improve walking efficiency, make walking gaits more natural and help robots realize complex motions, we introduce adaptable compliance to bipedal walking robots. Based on the review of the progress of bipedal walking robots with adaptable compliance, this paper presents the state-of-the-art research of both active and passive bipedal walking robots with adaptable compliance. For the four main problems in current studies, this paper predicts the tendency of bipedal walking robots with adaptable compliance, including applying compliant actuators in bipedal walking robots with adaptable compliance, study of compliance control methods, combination of bipedal robots and biological research, and applications of adaptable compliance in auxiliary walking devices such as prostheses and exoskeletons. This paper provides relevant theories, methods and technologies for obtaining bipedal walking robots with high efficiency, natural gaits and high versatility.