biped

• Living primates exhibit a dazzling diversity of forms ? from the saucer - eyed bush babies of sub - saharan africa to borneo ' s proboscis monkey ( the pinocchio of primates ) to humans , the cosmopolitan bipeds
  现存的灵长类动物，在形体上的差异极大，从非洲次撒哈拉地区有著碟子般大眼睛的婴猴，到婆罗洲的长鼻猴（灵长类动物中的小木偶） ，乃至人类这种遍布全球的两足动物，令人眼花撩乱。
• The project aims to design a kind of a miniaturization biped humanoid robot and carry out the research on the basic walking principle of this robot , in order to accumulate the design experience of autonomous intelligent biped robot systems later on
  课题旨在设计一种小型双足人形机器人平台,在此基础上对双足机器人的步行机理进行研究,为进一步设计自主的智能双足人形机器人积累经验。
• In this paper , a new - type biped - walking robot is brought forward and designed which is equipped by parallel leg mechanisms according to parallel stewart platform . it ' s accomplished by simple mechanism synthesization based in . the elementary principles of bionics
  本文提出了一种基于并联stewart平台的新型两足步行机器人腿部机构，通过简单的机构综合及仿生学原理研究，确定了其初步结构参数。
• Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking , and provide theoretic and data information for further work
  并对影响步行机器人稳定性能的参数进行分析，将得到的数据与理论上的稳定区域相比较，可以确定本文设计的步行机器人腿机构有很好的静态行走稳定性，为下一步的工作提供了理论及数据依据。
• In this paper , a new - type biped walking robot is brought forward and designed which is equipped by parallel leg mechanisms according to parallel stewart platform . it ' s accomplished by simple mechanism synthesization based on the elementary principles of bionics
  本文提出了一种单腿基于stewart平台的新型两足步行机器人的腿结构，通过简单的机构综合及仿生学原理的研究，确定了机器人在行走过程中的步态参数。
• And , the gait parameters of the biped walking robot is defined . according to anthropic walking trait , the robot walking action is rationally programmed by divided posture and time . the foot of trajectory is programmed in order to complete preconcerted target
  根据人类行走的特点，采用分相和分期的原则对于机器人行走的动作进行了合理规划，给出了机器人行走过程中动作的顺序，并对机器人在一个周期时间内行走时间进行了合理分配。
• Upon those theory studies , under the simulation environment of adams software , the 3 - d virtual prototype model was simulated according to actual gorilla robot “ gorobot ” . and in simulation studies , this paper realized biped steady dynamic forward - walking , upstairs and downstairs biped walking , walking mode shifting and rationality of the method for pattern generation was validated in this paper . by the simulation , the curves of joints drive torque and ground reaction force for landing - foot were gained
  基于上述的理论,在仿真软件adams的环境下对类人猿机器人“ gorobot ”仿真实现了双足前向稳定动步行,双足上下台阶,步行方式动态转换过程,从而验证了本文的步行样本生成方法的正确性和合理性;通过仿真得到的关节力矩曲线、着地脚的地面反力曲线等仿真结果验证了机器人步行和步行方式转换的能力。
• The correctness of the design and analysis of the biped walking robot is testified by graphics simulation . the sole sensor system is simply studied , the way to solve the real time question of zmp point is gave , and the control frame and arithmetic frame of feedback revising system is brought forward
  通过仿真验证了两足步行机器人设计及分析的正确性，简单分析了脚底传感器系统，给出了根据脚底传感器实时求取zmp点的方法，给出了基于脚底传感器的反馈校正系统控制框图和算法框图。
• Nie detested debray , - not only because he was a source of dissension and scandal under the paternal roof , but because she had at once classed him in that catalogue of bipeds whom plato endeavors to withdraw from the appellation of men , and whom diogenes designated as animals upon two legs without feathers
  但男爵夫人如果能再作敏锐和深刻的分析，她就会知道：事实正巧相反，欧热妮所以厌恶德布雷，决不是因为他是引起她父母失和与家庭流言的，而只是因为她象柏拉图一样，把他归类为一种无羽毛的两脚动物。
• Legged robot has the high adaptability to the environment , it can be applied in the fields of scientific investigation , national defense , aerospace exploration etc , in recent years , research on biped humanoid robots and quadruped robots was most exciting topics in the field of robotics . while researchers work completely on the dynamical biped walking and the quadruped walking , there is less study on the dynamical quadruped walking ? especially on irregular terrain
  由于腿式机器人对环境有较强的适应性,可应用于科学考察、国防、空间探索等诸多领域,近些年来,仿人双足步行机器人和仿生四足步行机器人一直是机器人领域非常热门的研究对象。虽然研究者们对两足机器人的动步行和四足机器人的静步行都有了非常深入的研究,但对四足机器人的动步行?特别是野外和不平坦路面等复杂地况下的动步行研究还很少。