双足步行机器人两点式足部结构及其传感系统
wo-point Foot Structure and Sensing System of Biped Walking Robot
本文首先介绍了一种仿人步行的两点式步行理论，该理论简化了步态规划以及步行控制过程，不需要实时计算ZMP位置；基于该理论，设计了一种新型双足步行机器人两点式足部结构及其集成化、一体化的传感系统；然后进行了足部具体结构以及传感系统研制；最后，通过实验验证了传感系统的性能。
Firstly, this paper introduces a two-point walking theory, which simplifies the gait planning and walking control process and does not need to calculate the ZMP position in real time.Based on this theory, a new biped walking robot\'s two-point foot structure and its integrated and integrated sensing system are designed.Then the concrete structure of foot and the sensing system are developed. Finally, the performance of the sensor system is verified by experiments.
罗翔、闫赛赛
自动化技术、自动化技术设备机械设计、机械制图机械零件、传动装置
机械电子工程两点式步行足部结构传感系统
Mechanical and Electronic EngineeringTwo-point walkingFoot structureSensing system
罗翔,闫赛赛.双足步行机器人两点式足部结构及其传感系统[EB/OL].(2019-04-09)[2025-08-11].http://www.paper.edu.cn/releasepaper/content/201904-106.点此复制
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