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仿人机器人跑步稳定性准则

李朝晖 黄强 李科杰

李朝晖, 黄强, 李科杰. 仿人机器人跑步稳定性准则. 自动化学报, 2005, 31(4): 606-611.
引用本文: 李朝晖, 黄强, 李科杰. 仿人机器人跑步稳定性准则. 自动化学报, 2005, 31(4): 606-611.
LI Zhao-Hui, HUANG Qiang, LI Ke-Jie. Stability Criterion for Humanoid Running. ACTA AUTOMATICA SINICA, 2005, 31(4): 606-611.
Citation: LI Zhao-Hui, HUANG Qiang, LI Ke-Jie. Stability Criterion for Humanoid Running. ACTA AUTOMATICA SINICA, 2005, 31(4): 606-611.

仿人机器人跑步稳定性准则

详细信息
    通讯作者:

    李朝晖

Stability Criterion for Humanoid Running

More Information
    Corresponding author: LI Zhao-Hui
  • 摘要: A humanoid robot has high mobility but possibly risks of tipping over. Until now, one main topic on humanoid robots is to study the walking stability; the issue of the running stability has rarely been investigated. The running is different from the walking, and is more difficult to maintain its dynamic stability. The objective of this paper is to study the stability criterion for humanoid running based on the whole dynamics. First, the cycle and the dynamics of running are analyzed. Then, the stability criterion of humanoid running is presented. Finally, the effectiveness of the proposed stability criterion is illustrated by a dynamic simulation example using a dynamic analysis and design system (DADS).
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出版历程
  • 收稿日期:  2003-10-20
  • 修回日期:  2004-08-06
  • 刊出日期:  2005-07-20

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