本文選題：類人機(jī)器人　切入點(diǎn)：步態(tài)規(guī)劃　出處：《機(jī)床與液壓》2017年21期

【摘要】：類人機(jī)器人因在醫(yī)療、娛樂(lè)和服務(wù)等領(lǐng)域的廣泛需求以及作為評(píng)價(jià)人工智能等多個(gè)學(xué)科技術(shù)的理想平臺(tái),而備受研究者青睞,是機(jī)器人研究領(lǐng)域的熱門(mén)課題之一。類人機(jī)器人技術(shù)需要機(jī)械、材料、計(jì)算機(jī)科學(xué)和人工智能等多個(gè)相關(guān)學(xué)科的理論和技術(shù)支持,其發(fā)展也必然帶動(dòng)相關(guān)學(xué)科的發(fā)展和進(jìn)步,因此對(duì)其研究有著十分重要的理論價(jià)值。同時(shí),相比于輪式、履帶式和蠕動(dòng)式等其它種類的機(jī)器人,其可以更好地適應(yīng)人類生活環(huán)境,工作空間也更廣泛,動(dòng)作形態(tài)更加豐富,且其能源利用效率更高,因此對(duì)其研究有著十分重要的應(yīng)用價(jià)值。文中對(duì)國(guó)內(nèi)外類人機(jī)器人的研究現(xiàn)狀,步態(tài)規(guī)劃方法以及穩(wěn)定性判據(jù)的研究現(xiàn)狀,及各自的特點(diǎn)進(jìn)行了詳細(xì)分析介紹。
[Abstract]:Humanoid robot due to the needs of a wide range of medical, entertainment and services as well as the evaluation of artificial intelligence and other disciplines technology platform, and has attracted great attention from researchers, is one of the hot topics in the field of robots. Humanoid robot technology to mechanical, material support, computer science and artificial intelligence and other related disciplines the theory and technology, its development will promote the development and progress of related disciplines, so it has very important theoretical value for the research. At the same time, compared with wheeled, crawler and peristaltic and other types of robots, which can better adapt to human living environment, work space is also more extensive, more forms of action rich, and its energy efficiency is higher, so it has very important practical value. The research of domestic and international research status of humanoid robot in this paper, gait planning method to The research status of the stability criteria and their respective characteristics are analyzed and introduced in detail.

【作者單位】： 西安交通大學(xué)機(jī)械工程學(xué)院;
【分類號(hào)】：TP242

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本文編號(hào)：1729821