biped

The humanoid robot is always one of hot spots in robot fields. The disquisitive difficulty of humanoid robot is that the biped robot simulates human walking principles to the largest extent.

人形机器人一直是机器人研究领域的热点，人形机器人研究的难点是如何使机器人两条腿近似地模拟人类行走。

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In the following chapter, we have the simulation of the biped walking without lifting the feet on the flat ground and consuming energy, which uses the balancing and locomotion of the inverted pendulum.

然后，在随后的章节中针对这一模型，用二级倒立摆的平衡控制模拟双足机器人在平坦的地面上，脚面抬起高度为0的最小能量消耗的一种行走方式。

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rick was prepared to believe that kami was in the hands of the biped inorganic grotesques of the invid.

瑞克不得不相信卡米已经落入因维双足无机兽的丑陋魔爪之中了。

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A biped is a creature with two legs.

两足动物指的是有两只脚的动物。

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Then, the problem of biped walking is studied, and corresponding control strategies are proposed to solve landing impact force and walking stability.

然后针对机器人双足行走存在的问题进行研究，并提出相应的控制策略解决机器人行走的着地冲击与稳定性问题。

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By lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double-foot support, and this model is easy to control.

运用拉格朗日动力学方程对简化的机器人模型分别在单、双脚支撑期进行了动力学建模，得到了一个便于控制的动力学模型。

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As an introductory line, RoboCup3D server opens up a kingdom of the study of intelligent control of soccer biped robot in simulation environment.

今年首推的3D仿真系统开创了该赛事仿真环境下两足机器人智能控制研究的先河。

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The biped robot will be a simple, easy to use and high precision platform.

本文设计的双足行走机器人实验平台具有简单、易用、高精度的特点。

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Design and Gait Planning of Miniaturization Biped Humanoid Robot

小型双足人形机器人机构设计与步态规划

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A Method of Planning Bionic Over-Obstacle Walking Mode for Biped Robot Based on B-Spline Curves

基于B样条曲线的两足机器人仿生越障步行模式实现方法

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The gait of a biped robot climbing stairs consists of foot trajectory and hip trajectory.

将双足机器人上楼梯的步态规划问题分解为脚踝运动轨迹和臀部运动轨迹的规划问题.

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Biped walking robot has some semblable walking characters as human walking, which is the strong adaptability to surrounding.

两足步行机器人具有类似于人类步行的特点，对环境有较好的适应性。

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The calculation of the online gait phase identification and centre of pressure ( COP) is one of the key technologies of biped robot, artificial limb, and rehabilitation robot.

在线的步态相位识别和压力中心COP检测是两足类人机器人、人工假肢，以及腿部康复训练机器人的关键技术之一。

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some biologists, along with plato, define hominid as "featherless biped. "

有些生物学家，作为柏拉图的跟随者，定义原始人类为“没有羽毛的两足动物”。

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Torque control problem of ankle joint on the dynamic walking biped robot

双足机器人动态行走时踝关节的力矩控制问题

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In this paper, we put forward a method for the biped walking robot getting up planning, which can achieve the movement of getting up stably and glidingly.

介绍了一种双足步行机器人的起立规划方法，该方法能实现稳定而又自然流畅的起立运动，同时能保证在站立状态下执行相同的动作而不翻倒。

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So, the researching on biped walking robot has become an active task in robotics.

两足步行机器人具有类似于人类步行的特点,对环境有较好的适应性.

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As an important branch in the field of robot, biped robot is always one of the hot spots, with very high commercial and military value.

作为机器人研究领域的一个重要分支，双足机器人一直是国内外研究热点之一具有很高的工业、商业甚至是军事价值。

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Desired gait synthesis in biped robot based on reactive force

基于地面反力的双足机器人期望步态轨迹规划

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In order to realize biped steady dynamic walking, this paper adopted a trajectory of variable ZMP ( Zero Moment Point), which was defined as a cosine curve.

为了实现双足稳定动步行，本文采用了余弦可变ZMP（zero moment point）运动轨迹。

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Influence of mechanical parameters of biped walking chair robot on ZMP ( Zero Moment Point) stability margin is studied.

研究了两足步行椅机器人的机械参数对步行ZMP（zero moment point）稳定裕度的影响。

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Leg: In a Biped, the limb, jointedthe knee, supporting the Body and for walking and running.

腿: 两足动物的下肢, 与膝部连接, 用于支撑身体并用来行走和奔跑.

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Biped robot with heterogeneous legs ( BRHL ) is a new pattern humanoid robot.

异构双腿行走机器人 ( BRHL ) 是一种全新的类人机器人模式.

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Attitude Control of Biped Robot Based on Optimal Reactive Force Distribution

基于地面反力最优规划的双足机器人姿态控制

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A wide range of stable walking control strategy is proposed to make the biped robot have stable gaits on flat ground or downhill slopes or uphill slopes.

为了使机器人在平地、上坡、下坡时也能稳定行走，本文提出了大范围稳定行走控制策略，仿真实验验证了算法的有效性。

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Since the stability of biped robot is intrinsically low, for improving the walking robustness to the irregular terrain and modeling error, a robust reactive force control and trunk's position/ attitude control with optimal force distribution are also considered in the course of system design.

为提高机器人对不平整路面的鲁棒性和克服系统建模误差，行走控制系统中采用了鲁棒地面反力控制器和基于地面反力最优规划的姿态控制策略。

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