Biped相关论文
针对未知的不平整地面环境,提出了双足机器人稳定步行控制算法,该算法由步态规划和在线反馈控制组成.设计了被动倒立摆模型以规划......
ＳＴＵＤＩＥＳＯＮＭＥＣＨＡＮＩＣＳＰＲＯＢＬＥＭＯＦＤＹＮＡＭＩＣＷＡＬＫＩＮＧＯＦＡＮＴＨＲＯＰＯＭＯＲＰＨＩＣＢＩＰＥＤＲＯＢＯＴＳＴａｎＧｕａｎｚｈｅｎｇ；ＹａｎｇＨｏｎｇｚｈｉ（ＲｏｂｏｔｔｅｓＲｅｓｅａｒｃｈＣｅｎｔｒｅ，ＣｅｎｔｒａｌＳ...
RESEARCHONMECHANICSPROBLEMOFDYNAMICWALKINGOFANTHROPOMORPHICBIPEDROBOTSTanGuanzheng; YangHongzhi (RobottesResearchCe......
目的:研究双水平正压无创机械通气(BiPAP)对重症支气管哮喘的治疗作用.方法:将53例患者随机分成对照组和治疗组,两组均给予综合治......
This study compared the pre-sacral intervertebral joints of the American alligator(Alligator mississippiensis)with those......
通过实例详细介绍了虚拟标志肌学习软件中标志肌动画的制作过程。指出使用3DSMax软件制作虚拟标志肌学习软件中的人体三维动画,可......
通过实例详细介绍了虚拟标志肌学习软件中标志肌动画的制作过程。指出使用3DSMax软件制作虚拟标志肌学习软件中的人体三维动画,可......
采用一种更接近于人类行走的匀质圆规步态模型,运用Lagrange法和碰撞时刻角动量守恒原理分别建立机器人的摆动模型及碰撞模型。基......
自治双足步行机器人通常用于展示和娱乐的目的，相对于“被动动力步行”而言，其能量效率比较低。文中通过Garcia的被动动力步行机器人......
...
针对纯被动机器人对环境变化敏感,抗干扰能力差等问题,提出了一种基于Sarsa（λ）强化学习的底层PD控制器参数优化算法。在MatODE环境......
ＡＮＥＷＭＥＴＨＯＤＯＦＭＥＣＨＡＮＩＳＭＳＹＮＴＨＥＳＩＳＦＯＲＢＩＰＥＤＲＯＢＯＴＳ①ＴａｎＧｕａｎｚｈｅｎｇＩｎｓｔｉｔｕｔｅｏｆＲｏｂｏｔｉｃｓ，ＣｅｎｔｒａｌＳｏｕｔｈＵｎｉｖｅｒｓｉｔｙｏｆＴｅｃｈｎｏｌｏｇｙ，Ｃｈａｎｇｓｈａ４１００８.........
根据自然界中两足动物运动的特点，在两足步行平面连杆模型的基础上提出了用于结构优化的能量指标，即步行单位距离，运送单位质量所消耗......
清华大学THBIP－I拟人机器人研究项目，由精密仪器系、机械工程系和自动化系组成研究小组进行系统研究，其研究目的是发展先进机器人理论......
In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the......
Walking without impacts has been considered in dynamics as a motion/force control problem. In order to avoid impacts, an......
In this paper, we modeled a simple planer passive dynamic biped robot without knee with point feet. This model has a sta......
A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism.The scalability o......
Circular Obstacle Avoidance Control of the Compass-Type Biped Robot Based on a Blending Method of Di
This paper considers an obstacle avoidance control problem for the compass-type biped robot, especially circular obstacl......
A gait control method for a biped robot based on the deep Q-network (DQN) algorithm is proposed to enhance the stability......
A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. F......
A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. F......
ＳＴＵＤＩＥＳＯＮＭＥＣＨＡＮＩＣＳＰＲＯＢＬＥＭＯＦＤＹＮＡＭＩＣＷＡＬＫＩＮＧＯＦＡＮＴＨＲＯＰＯＭＯＲＰＨＩＣＢＩＰＥＤＲＯＢＯＴＳＴａｎＧｕａｎｚｈｅｎｇ；ＹａｎｇＨｏｎｇｚｈｉ（ＲｏｂｏｔｔｅｓＲｅｓｅａｒｃｈＣｅｎｔｒｅ，ＣｅｎｔｒａｌＳ.........
In this work,we combined the model based reinforcement learning(MBRL)and model free reinforcement learning(MFRL)to stabi......
