【摘要】 根据自然界中两足动物运动的特点,在两足步行平面连杆模型的基础上提出了用于结构优化的能量指标,即步行单位距离,运送单位质量所消耗的能量。通过对不同的膝关节折向在不同的速度下的运动建模仿真后发现,小于1m/s低速步行时,膝关节前折方式优于后折方式;相对于高速步行时则相反。这个结论为步行机器人膝关节结构设计提供了重要的理论依据和设计思路。更多还原

【Abstract】 According to the feature of biped walking in nature,this paper present the energy index,i.e.cost energy of carrying unit quality in unit distance,for structure optimization based on the planar link model of biped walking.After modeling and optimization with different knee bending in different speed,we find that forward bending is superior than backward bending in speed < 1m/s;while it is to the contrary in high speed.This conclusion support the knee structure design of biped with important theory and ideal.更多还原