%0 Journal Article
%T 仿人机器人跑步稳定性准则
%A 李朝晖
%A 黄强
%A 李科杰
%J 自动化学报
%P 606-611
%D 2005
%X ？Ahumanoidrobothashighmobilitybutpossiblyrisksoftippingover.Untilnow,onemaintopiconhumanoidrobotsistostudythewalkingstability;theissueoftherunningstabilityhasrarelybeeninvestigated.Therunningisdifferentfromthewalking,andismoredifficulttomaintainitsdynamicstability.Theobjectiveofthispaperistostudythestabilitycriterionforhumanoidrunningbasedonthewholedynamics.First,thecycleandthedynamicsofrunningareanalyzed.Then,thestabilitycriterionofhumanoidrunningispresented.Finally,theeffectivenessoftheproposedstabilitycriterionisillustratedbyadynamicsimulationexampleusingadynamicanalysisanddesignsystem(DADS).
%K Humanoidrobot
%K running
%K stabilitycriterion
%U http://www.aas.net.cn/CN/abstract/abstract16026.shtml