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首页> 外文期刊>International journal of humanoid robotics >EXTENDED-KNEE WALK FOR HUMANOID ROBOT WITH PARALLEL LINK LEGS
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EXTENDED-KNEE WALK FOR HUMANOID ROBOT WITH PARALLEL LINK LEGS

机译：具有平行连杆腿的类人机器人的扩展拐角行走

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摘要

This paper proposes a method of giving humanoid robots a natural humanlike walk, which we call the extended-knee walk. Unlike the bent-knee walk of most humanoid robots to date, this walk includes a period in which the knee is fully extended. A parallel mechanism is used in the legs and a method of calculating the walk trajectory copes with the difficulty of the singularity in achieving a humanlike walk. The advantages of this walk were verified from two aspects: good visual appearance and good energy efficiency. An experiment comparing the trajectories of the knee angle during walking showed that the walking style produced by the proposed method is more humanlike than the usual walking style of other humanoid robots. The energy efficiency was verified through power consumption and motor temperature measurements and the possibilities for practical use of this method are discussed with reference to the results of the worldwide soccer competition RoboCup 2008.
机译：本文提出了一种赋予类人机器人自然的类人步行的方法，我们称其为“伸膝步行”。迄今为止，与大多数人形机器人的弯膝步行不同，该步行包括一段膝盖完全伸展的时期。腿部使用了并联机构，并且计算步行轨迹的方法解决了实现人性化步行时的难点。从两个方面验证了这种步行的优势：良好的视觉外观和良好的能源效率。实验比较了步行过程中膝盖角度的轨迹，表明该方法产生的步行方式比其他类人机器人的通常步行方式更人性化。通过功耗和电机温度测量验证了能源效率，并参考了2008年全球足球比赛RoboCup的结果讨论了该方法的实际应用可能性。

著录项

  • 来源
    《International journal of humanoid robotics》 |2009年第4期|565-584|共20页
  • 作者

    HAJIME SAKAMOTO; HARUHIRO KATAYOSE; KOJI MIYAZAKI; RYOHEI NAKATSU;

  • 作者单位

    Graduate School of Science and Technology Kwansei Gakuin University, 2-1 Gakuen Sanda, Hyogo 669-1337, Japan;

    School of Science and Technology Kwansei Gakuin University, 2-1 Gakuen Sanda, Hyogo 669-1337, Japan;

    Academic Center for Computing and Media Studies Kyoto University, Yoshida Nihon -Matsu Sakyo, Kyoto 606-8501, Japan;

    Interactive & Digital Media Institute National University of Singapore, Level 2 21 Heng Mui Keng Terrace, Singapore 119613;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    walk; humanoid robot; extended-knee walk;

    机译：步行;人形机器人伸膝步行;

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