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柔性两轮自平衡仿人机器人模型分析

赵建伟, 阮晓钢

赵建伟, 阮晓钢. 柔性两轮自平衡仿人机器人模型分析[J]. 北京工业大学学报, 2010, 36(2): 163-171.
引用本文: 赵建伟, 阮晓钢. 柔性两轮自平衡仿人机器人模型分析[J]. 北京工业大学学报, 2010, 36(2): 163-171.
ZHAO Jian-wei, RUAN Xiao-gang. Analyzing Model of Flexible Two-wheel Upright Self-balance Humanoid Robot[J]. Journal of Beijing University of Technology, 2010, 36(2): 163-171.
Citation: ZHAO Jian-wei, RUAN Xiao-gang. Analyzing Model of Flexible Two-wheel Upright Self-balance Humanoid Robot[J]. Journal of Beijing University of Technology, 2010, 36(2): 163-171.

柔性两轮自平衡仿人机器人模型分析

基金项目: 

国家“八六三”计划资助项目(2007AA04Z226)

国家自然科学基金资助项目(60774077).

详细信息
    作者简介:

    赵建伟(1979—),男,内蒙古临河人,博士研究生.

  • 中图分类号: TPS242.6

Analyzing Model of Flexible Two-wheel Upright Self-balance Humanoid Robot

  • 摘要: 用弹簧模仿人的腰椎, 对动力学简化模型进行了线性化处理, 建立状态空间方程对其进行控制, 并从数学角度验证了模型的正确性.
    Abstract: This research uses prings to imitate humanoid lumbar spine of a robot, and analyzes the problem of lumbar spine of flexibility of the botot.A simplified model is obtained, which is linearized and its equations of state are established.The simplified dynamic model is obtained by design and its structure is simple, and controlling of the model is easy and effective.Validity of the system modeling is proved through the mathematics' method.
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出版历程
  • 收稿日期:  2008-06-17
  • 网络出版日期:  2022-12-29

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