双足步行机器人相关翻译_双足步行机器人

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本科毕业论文

外文文献及译文

文献、资料题目：Walking Control algorithm of

Biped Humanoid Robot

文献、资料来源：期刊

文献、资料发表（出版）日期：1999.6.3 院（部）： 理学院

专

业： 光信息科学与技术 班

级： 光信112 姓

名： 王若宇 学

号： 2011121135 指导教师： 赵俊卿 翻译日期： 2015.5.14

山东建筑大学毕业论文外文文献及翻译

外文文献：

Walking Control algorithm of Biped Humanoid Robot

Many studies on biped walking robots have been performed since 1970 [1-4].During that period, biped walking robots have transformed into biped humanoid robots through the technological development.Furthermore, the biped humanoid robot has become a one of representative research topics in the intelligent robot research society.Many researchers anticipate that the humanoid robot industry will be the industry leader of the 21st century and we eventually enter an era of one robot in every home.The strong focus on biped humanoid robots stems from a long-standing desire for human-like robots.Furthermore, a human-like appearance is desirable for coexistence in a human-robot society.However, while it is not hard to develop a human-like biped robot platform, the realization of stable biped robot walking poses a considerable challenge.This is because of a lack of understanding on how humans walk stably.Furthermore, biped walking is an unstable succeive motion of a single support phase.Early biped walking of robots involved static walking with a very low walking speed [5,6].The step time was over 10 seconds per step and the balance control strategy was performed through the use of COG(Center Of Gravity).Hereby the projected point of COG onto the ground always falls within the supporting polygon that is made by two feet.During the static walking, the robot can stop the walking motion any time without falling down.The disadvantage of static walking is that the motion is too slow and wide for shifting the COG.Researchers thus began to focus on dynamic walking of biped robots [7-9].It is fast walking with a speed of le than 1 second per step.If the dynamic balance can be maintained, dynamic walking is smoother and more active even when using small body motions.However, if the inertial forces generated from the acceleration of the robot body are not suitably controlled, a biped robot easily falls down.In addition, during dynamic walking, a biped robot may falls down from disturbances and cannot stop the walking motion suddenly.Hence, the notion of ZMP(Zero Moment Point)