文章摘要
引用本文:杨钧杰,孙浩,王常虹,陈晓东.四足机器人研究综述[J].导航定位与授时,2019,6(5):61-73 本文二维码信息
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四足机器人研究综述
An Overview of Quadruped Robots
  
DOI:
中文关键词:  四足机器人  研究现状  结构设计  控制方法  环境感知技术
English Keywords:Quadruped robot  Research status  Structure design  Control method  Environmental awareness technology
基金项目:
作者单位
杨钧杰 哈尔滨工业大学, 哈尔滨 150001 
孙浩 哈尔滨工业大学, 哈尔滨 150001 
王常虹 哈尔滨工业大学, 哈尔滨 150001 
陈晓东 上海机电工程研究所上海 201109 
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中文摘要:
      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。
English Summary:
      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.
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