Mammalian Legged Robot:a Review

Abstract

Abstract:

For discrete ground contact,there were high adaptability and extensive application prospect for mammalian legged robot when encountering special topographical and unpredictable environment such
as obstacles,ditch and so on.This paper surveyed the development process of mammalian legged robots,and mainly introduced overseas and domestic research status in terms of two legged and four legged robots.The related theory and method on legged structure,joint drive,navigation,stability criterion and control algorithm were analyzed and discussed,Meanwhile,the difficulties to be solved under development were analyzed and the future of legged robots was forecasted.

Key words: mammalian, legged robot, legged structure, joint drive, navigation, stability criterion, control algorithm

摘要：

类哺乳动物腿式机器人凭借其离散式的地面支撑和对障碍、沟渠等复杂特殊地形及不可预知环境的极强适应性,使其具有广泛的应用前景。从双腿式机器人和四腿式机器人两个方面介绍了国内外类哺乳动物腿式机器人的研究现状,分析和讨论了腿式机器人在腿部结构、关节驱动、导航、稳定性判据和控制算法方面的相关理论与方法,对存在的问题进行了讨论，并对未来的发展趋势进行了预测。

关键词: 类哺乳动物, 腿式机器人, 腿结构, 关节驱动, 导航, 稳定性判据, 控制算法

CLC Number:

TP242

QIN Xian-Sheng-1, 2, ZHANG Xue-Feng-1, TAN Xiao-Qun-1, FENG Hua-Shan-1, ZHANG Pei-Pei-1. Mammalian Legged Robot:a Review[J]. China Mechanical Engineering, 2013, 24(6): 841-851.

秦现生1, 2, 张雪峰1, 谭小群1, 冯华山1, 张培培1. 类哺乳动物腿式机器人研究综述[J]. 中国机械工程, 2013, 24(6): 841-851.

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