具有可控柔性的双足行走机器人研究进展综述
内容摘要：
为了增强机器人的行走效率，使机器人的步态更自然，并有助于机器人实现复杂的运动，在双足行走机器人中加入可控的柔性。在概述柔性可控双足行走机器人发展背景的基础上，介绍国内外基于主动控制和基于被动行走的2 类柔性可控双足行走机器人的研究现状，针对目前柔性可控双足行走机器人面临的4 大主要问题，提出其未来的发展趋势，主要包括：将柔性驱动器应用到柔性可控的双足行走机器人中；研究控制柔性的方法；将双足机器人与生物学研究相结合；在假肢、外骨骼等辅助行走设备中应用可控柔性。该研究可为实现效率高、步态自然、实用性强的双足行走机器人提供相关理论、方法及技术支持。
关键词：
动态双足行走；双足机器人；关节柔性；柔性驱动器；动力学建模
中图分类号：TP242 文献标志码：A
Abstract: In order to improve walking efficiency, make walking gaits more natural and help robots realize complex
motions, we introduce adaptable compliance to bipedal walking robots. Based on the review of the progress of bipedal
walking robots with adaptable compliance, this paper presents the state-of-the-art research of both active and passive
bipedal walking robots with adaptable compliance. For the four main problems in current studies, this paper predicts the
tendency of bipedal walking robots with adaptable compliance, including applying compliant actuators in bipedal walking
robots with adaptable compliance, study of compliance control methods, combination of bipedal robots and biological
research, and applications of adaptable compliance in auxiliary walking devices such as prostheses and exoskeletons. This
paper provides relevant theories, methods and technologies for obtaining bipedal walking robots with high efficiency,
natural gaits and high versatility.
Keywords: dynamic bipedal walking; bipedal robots; joint compliance; compliant actuators; dynamics modeling
