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。
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。
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。
Aimed to the problem that the working time of the hexapod walking bio - robot whose power is supplied by batteries is subjected to a limit , this paper puts forwards the new method that used to its control system integrating dynamic power management , real time scheduling and motion - strategy planning , which considers the system ' s energy consumption grade fully 摘要针对采用电池供电的六足仿生步行机器人其工作时间受限的情况，提出了将动态电源管理、实时任务调度和运动策略规划等方法，综合运用于其控制系统，且更为全面地考虑了机器人系统的能耗等级。
The main research of this paper includes scheme design of crab - liked robot , control system , driving technology . after studying of related research on multi - legged and bionics robot over the world , the macro - scheme design of the crab - liked robot is deeply researched . the feasibility of relating technology has been demonstrated such as kinematics and dynamics of multi - loop parallel manipulator , micro servo driving method , bionic mechanics , dsp real - time control 本论文主要包括以下内容：借鉴国内外典型多足步行机器人和仿生机器人研究项目的经验，提出了机器蟹的总体方案设计，并对多环并联结构机器人运动学及动力学分析方法、微型伺服驱动技术、机械仿生技术、 dsp实时控制等关键技术开展了研究。
Compared with humanoid biped walking robot , gorilla robot which imitated gorilla animal has the characteristics of multiple locomotion modes and transition of walking mode , it has better environment adaptability and locomotion agility for rough road . therefore , in the future gorilla robot with multiple locomotion modes has great application potential at the aspects of space technology , national defense , military affairs etc . so this research has important actual significance 与仿人双足步行机器人相比,仿生于类人猿动物的类人猿机器人由于具有多种移动方式和步行方式转换机能,对复杂地势具有良好的环境适应性和移动灵活性,在未来的空间技术、国防、军事等方面具有很大的应用潜力,其研究具有重要的实际意义。
So far , the leg mechanisms of most biped walking robots are in series , but parallel mechanisms have many advantages that mechanisms in series have n ' t . so , it has very important significances of theory and engineering to study and open out parallel mechanisms as the leg mechanisms of biped walking robots 迄今为止，两足步行机器人腿部机构大都采用串联机构，而并联机构具有许多串联机构无法比拟的优点，因此，研究开发并联机构的两足机器人腿机构有着很重要的理论和工程实际意义。
