【摘要】 人类在快速起停或跑动过程中,往往利用脚对地的冲击来提高运行速度。双足机器人在快速运动过程中,不可避免地会对地产生冲击,现有的双足机器人大多是进行平稳运动,限制了双足机器人速度的提高。该文建立了双足机器人的冲击模型及径向平面内的运动学模型,并分析了双足机器人脚对地的各种冲击效果,利用这些冲击结果来提高双足机器人的运动速度并进行了仿真实验,仿真实验结果证明双足机器人可以模仿人类对地冲击的利用来提高双足机器人的运行速度。更多还原

【Abstract】 During fast starting,stopping or running phase,humans often use the impact of their feet on the ground to improve moving velocity.Biped robot is unavoidable to bring the impact on the ground during fast moving phase.And now,most of biped robots are designed to move stably,as a result,the velocity of biped robot is limited.This paper pro-poses impact model of biped robot and kinematics model in the sagittal plane,and analyzes all kinds of effects of the impact of biped robot foot on the ground.Use these impact effects to improve the moving velocity of biped robot and execute simulation experiment.And simulation experiment result proves that biped robot may improve the moving velocity by emulating the impact of humans on the ground.更多还原