摘要
灵长类仿生机器人具有高爆发性、高适应性、高平衡性等特点,既能够完成基本行走式机器人的工作职能,又能适用于复杂环境下的协同配合工作。文章主要探讨灵长类仿生机器人高机动运动与控制关键技术及主要研究方案,以黑猩猩等典型灵长类动物为仿生对象,开展机器人仿生关键技术研究,针对机器人运动高机动性的多运动模式和高爆发性特点开展研究,重点探讨灵长类高机动运动的生物学及运动力学信息提取与表征、高爆液压驱动和传动系统构建、多模式运动的灵长类机构优化、多模式运动统一建模及最优模式选择与切换4项内容。
Primate bionic robot has the characteristics of high explosion, high adaptability and high balance. it can not only complete the working function of basic walking robot, but also be suitable for cooperative work in complex environment. This paper mainly discusses the key technologies and main research schemes of high maneuvering motion and control of primate bionic robots. Taking chimpanzees and other typical primates as bionic objects, the research of robot bionic key technologies is carried out, and the multi-motion mode and high explosive characteristics of robot motion are studied, with emphasis on the extraction and characterization of biological and operational dynamics information of primate high maneuvering motion. High explosion hydraulic drive and transmission system. There are four contents: unified construction, optimization of primate mechanism of multi-model motion, unified modeling of multi-model motion and optimal model selection and switching.
作者
王超
张东杰
贾春磊
郝悦
Wang Chao;Zhang Dongjie;Jia Chunlei;Hao Yue(Changchun Guanghua University, Changchun 130033, China)
出处
《无线互联科技》
2019年第18期107-108,共2页
Wireless Internet Technology
基金
吉林省教育厅“十三五”科学技术研究规划项目
项目编号:JJKH20181376KJ
2019年长春光华学院青年科研基金项目
项目编号:QNJJZD2019003
