【摘要】 简述了目前步行机车体姿势感知方法，提出了一种新的“调制摆”原理及“主动跟踪自然基准”的测量方法。利用这种方法可以有效地简化感知车体姿势时产生自然基准过程中的阻尼控制问题。介绍了根据调制摆原理研制成功的车体姿势感知装置ＷＢＩ－Ｉ，内容包括其结构特点，信号处理以及摆的跟踪调制算法。更多还原

【Abstract】 The present methods of attitude sensing for walking machines are summaried and the concepts of "Modulated Pendulum" and "Controlled Tracking of Natural Datum"are presented. Based on that, the problem of damping control is simplified in the sensing process. A new type of attitude sensor WBI-I is introduced with the emphases on its structure, signal processing and control algorithms.更多还原