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基于PAM的两足正步行走机器人的概念设计

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摘要 本文通过分析人类行走运动规律,采用PAM功能求解模型,提出了一种两足正步行走机器人设计方案,解决了非智能型机器人正步行走的动态稳定性问题.基于组合圆弧曲线和迷宫曲线的重心移动轨迹,研制出简单控制系统下具有直立正步行走、转身、摇头和摆臂等功能的两足机器人.
作者 刘江南 陈羽
机构地区 湖南大学
出处 《机械设计》 CSCD 北大核心 2005年第z1期27-28,共2页 Journal of Machine Design
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