【摘要】 介绍一种具有感觉系统、能够四足步行的仿生人造牲畜。该仿生人造牲畜具有12个自由度,关节采用滑块摆杆机械,由伺服电机驱动,其感觉系统由身体上的姿势传感器、脚上的力传感器以及与伺服电机同轴安装的轴角编码器构成。该仿生人造牲畜的步行由计算机进行控制。更多还原

【Abstract】 In this paper,The Artificial Livestock with feeling system,which can walk like four-leg animal,is introduced. The Artificial Livestock has 12 degrees of freedom, using slide-follower mechanisms as its joints and servo-motors as power sources of the joints. The feeling system consists of sensors responding to body attitude and foot force, and rotary encoders connected with servomotors. The walking motion of The Artificial Livestock can be controlled by computer.更多还原