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四足机器人研究综述
杨钧杰,孙浩,王常虹,陈晓东
0
(哈尔滨工业大学, 哈尔滨 150001;上海机电工程研究所,上海 201109)
摘要:
凭借对恶劣地形的强适应性,四足机器人已经成为当今移动机器人研究的热点,其研究深具社会意义和实用价值。阐述了四足机器人的发展及研究现状,以具有代表性的四足机器人为据,从结构设计、控制方法和环境感知技术三个方面综合介绍了四足机器人系统,总结了四足机器人的关键技术及主要问题,最后给出了具有前瞻性的结论。
关键词:  四足机器人  研究现状  结构设计  控制方法  环境感知技术
DOI:
基金项目:
An Overview of Quadruped Robots
YANG Jun-jie,SUN Hao,WANG Chang-hong,CHEN Xiao-dong
(Harbin Institute of Technology, Harbin 150001, China;Shanghai Electro-Mechanical Engineering Institute, Shanghai 201109, China)
Abstract:
Owing to their enhanced adaptability to harsh terrain, quadruped robots has become a hotspot in mobile robotics research field, and its research has profound social significance and practical value. The developments and current research status of quadruped robots are reviewed. Based on the representative quadruped robots, the quadruped robots are comprehensively introduced from three aspects: structure design, control method and environment perception technology. The key technologies and main difficulties of quadruped robots are summarized, and finally forward-looking conclusions are given.
Key words:  Quadruped robot  Research status  Structure design  Control method  Environmental awareness technology

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