双足步行机器人相关翻译.doc

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1、山东建筑大学毕业论文外文文献及翻译一号，黑体。题目必须二选一：要么是毕业设计，要么是毕业论文正式打印时，将此删除小初，黑体。本科毕业论文小三，TimeNewRoman外文文献及译文小三，宋体，写全称，汉字下同文献、资料题目：WalkingControlalgorithmofBipedHumanoidRobot文献、资料来源：期刊文献、资料发表（出版）日期：1999.6.3小三，TimeNewRoman，数字、字母下同院（部）：理学院专业：光信息科学与技术班级：光信112姓名：王若宇学号：指导教师：赵俊卿翻译日期：2015.5.14山东

2、建筑大学毕业论文外文文献及翻译外文文献：WalkingControlalgorithmofBipedHumanoidRobotManystudiesonbipedwalkingrobotshavebeenperformedsince1970[1-4].Duringthatperiod,bipedwalkingrobotshavetransformedintobipedhumanoidrobotsthroughthetechnologicaldevelopment.Furthermore,thebipedhumanoidrobothas

3、becomeaoneofrepresentativeresearchtopicsintheintelligentrobotresearchsociety.Manyresearchersanticipatethatthehumanoidrobotindustrywillbetheindustryleaderofthe21stcenturyandweeventuallyenteraneraofonerobotineveryhome.Thestrongfocusonbipedhumanoidrobotsstemsfromalong-stan

4、dingdesireforhuman-likerobots.Furthermore,ahuman-likeappearanceisdesirableforcoexistenceinahuman-robotsociety.However,whileitisnothardtodevelopahuman-likebipedrobotplatform,therealizationofstablebipedrobotwalkingposesaconsiderablechallenge.Thisisbecauseofalackofundersta

5、ndingonhowhumanswalkstably.Furthermore,bipedwalkingisanunstablesuccessivemotionofasinglesupportphase.Earlybipedwalkingofrobotsinvolvedstaticwalkingwithaverylowwalkingspeed[5,6].Thesteptimewasover10secondsperstepandthebalancecontrolstrategywasperformedthroughtheuseofCOG(

6、CenterOfGravity).HerebytheprojectedpointofCOGontothegroundalwaysfallswithinthesupportingpolygonthatismadebytwofeet.Duringthestaticwalking,therobotcanstopthewalkingmotionanytimewithoutfallingdown.Thedisadvantageofstaticwalkingisthatthemotionistooslowandwideforshiftingthe

7、COG.Researchersthusbegantofocusondynamicwalkingofbipedrobots[7-9].Itisfastwalkingwithaspeedoflessthan1secondperstep.Ifthedynamicbalancecanbemaintained,dynamicwalkingissmootherandmoreactiveevenwhenusingsmallbodymotions.However,iftheinertialforcesgeneratedfromtheaccelerat

8、ionoftherobotbodyarenotsuitablycontrolled,abipedroboteasilyfallsdown.Inaddition,duringdynamicwalking,abipedrob