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为了获得理想速度下的稳定行走步态,本文以带膝关节的双足步行机器人为研究对象,基于被动行走原理提出了一种步行速度控制方法。并通过仿真实验验证了算法的有效性。
In order to obtain the steady walking gait at the ideal speed, this paper takes the biped walking robot with knee joint as the research object, and proposes a walking speed control method based on the passive walking principle. Simulation results show the effectiveness of the algorithm.