【摘要】 依据人体轮滑运动基本动作的运动特点,分析双足从动轮式溜冰机器人(BISR)运动原理,研制出具有12个自由度的BISR样机。从模仿人体轮滑运动特点出发,探讨机器人实现"葫芦步"直线滑行的步态规划方法,并设计出机器人的控制系统。BISR样机成功实现"葫芦步"直线滑行,表明机器人样机设计合理,步态规划方法可行,溜冰运动可以成为两足机器人一种新的运动方式。更多还原

【Abstract】 By analyzing the locomotion of human skating,a biped ice-skater robot of leg-wheeled passive wheel type was presented,which had 12 degrees of freedom and was able to imitate human skating motion.The paper narrated briefly its motion principle after the kinematical model was simplified.Also,the construction and control system of BISR were introduced.Meanwhile,the gait plan of the robot was discussed and planed in detail.Lastly,the Validity of this motion principle,the design of prototype and the gait plan of BISR were verified by the actual examples of BISR skating with the symmetric gait.BISR will provide a new type of motion for the biped robot that usually walked.更多还原