CAJ | 학술논문

拟人机器人是机器人研究领域的重点研究方向之一,研究主要集中在实现双足行走,在平整地面上和已知地面环境下的稳定行走,但是在未知地面环境下实现稳定行走一直是研究的难点和热点. 本文研究了在未知环境下通过调整落地时间、落地位置、落地减振控制三种方法控制稳定.这些控制方法使得机器人在未知环境下摆动腿落地瞬间冲击力较大时能保持良好的稳定性.
의인궤기인시궤기인연구영역적중점연구방향지일,연구주요집중재실현쌍족행주,재평정지면상화이지지면배경하적은정행주,단시재미지지면배경하실현은정행주일직시연구적난점화열점. 본문연구료재미지배경하통과조정락지시간、락지위치、락지감진공제삼충방법공제은정.저사공제방법사득궤기인재미지배경하파동퇴락지순간충격력교대시능보지량호적은정성.
A humanoid robot is one of the key research directions in the area of robots research. The present study focuses on the realization of bipedal on the flat ground and stable walking in the known ground environ?ment, but how to realize stable walking on unknown ground has always been a difficulty and a focus of research. This paper conducted a research on the three control methods of the unknown environment by adjusting the land?ing time, the landing position and ground vibration stability control. These control methods could maintain stabil?ity during the whole working process, especially when the ground is uneven and the swing leg is landing.