仿人机器人发展现状及其腰关节的作用

仿人机器人是研究人类智能的高级平台,是综合多种学科的复杂智能机械,其研制和开发涉及到各学科、多方面问题,目前已成为机器人领域的研究热点问题之一.本文对仿人机器人目前的发展现状进行了综述,分析了多种仿人机器人的自由度分布,介绍了具有不同结构特点的腰机构,分析了腰关节在仿人机器人的稳定动态步行、全身协调运动及有情感步行等方面的重要作用.本文还指出了仿人机器人目前的主要研究方向.

The humanoid robot is an advanced platform for study on human intelligence and a complex intelligent machine.At present,the humanoid robot has become one of the most active domains in robotics.This paper presents the history and current status of the development of humanoid robot at home and abroad,analyses the distribution of DOFs of many kinds of humanoid robot. It also introduces the waist mechanisms with different structural peculiarity,analyses the functions and control methods of waist of humanoid robot on its stable dynamic walking ,whole boby cooperational motion and emotional walking .In the end ,the paper points out the main research direction on humanoid robot presently.