摘要
提出了具有7自由度和双球型髋关节的仿人机器人下肢机构.它和传统的6自由度双足步行机构相比,具有下述两大优点.首先双球型髋关节使机器人在不增加腰部关节的情况下实现腰部的基本运动功能,使机器人能够直立行走;其次在给定腰和足部位置时,它也能和人类一样实现转动双腿的动作.本文还对该复杂机构进行了运动特性分析、运动学求解、运动规划和实验验证.
A new leg mechanism with 7 DOF （degrees of freedom） and double spherical hip joint is proposed in this paper. Comparing with traditional 6 DOF biped mechanisms, it has the following two advantages. First, the double spherical joint can realize the basic function of waist motion without waist joint, enabling the humanoid robot to walk erectly. Secondly, if positions of the foot and waist are given, it can rotate the legs in a manner similar to human. This paper also discusses such problems of this complex mechanism as motion characteristic analysis, kinematics solution, motion planning, and validation experiments.
出处
《机器人》
EI
CSCD
北大核心
2007年第6期558-562,568,共6页
Robot
