淡江大學機構典藏:Item 987654321/107367
English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 58323/91877 (63%)
造访人次 : 14320845      在线人数 : 122
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧:
  • 您可在西文检索词汇前后加上"双引号",以获取较精准的检索结果
  • 若欲以作者姓名搜寻,建议至进阶搜寻限定作者字段,可获得较完整数据
  • 进阶搜寻


    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/107367


    题名: Gait pattern generation for humanoid robot based on the amplitude adjustable oscillators
    作者: Cheng, C.T.;Wong, C.C.;Hu, Y.Y.;Chen, L.F.;Tseng, I.H.
    关键词: Biped robot walking;legged locomotion;humanoid robot
    日期: 2012-08-29
    上传时间: 2016-08-18 13:39:03 (UTC+8)
    摘要: —In this paper, a gait pattern generator for the
    humanoid robots is proposed by using the amplitude
    adjustable oscillators. The amplitude adjustable method is
    used to solve the lack of mechanism and improve the
    walking stability. Three end points, two feet and center of
    hip (COH), on the robot are chosen for determining the
    walking gait. Three oscillators are applied to calculate the
    trajectory curves of those three end points on x, y and z
    rectangular coordinates. After the whole walking
    trajectory is obtained by the combination of these nine
    oscillators, inverse kinematic is applied to determine the
    angle of each join. This method is not only calculating the
    walking gait of the biped robot but also helping the users to
    adjust the walking motion effectively. The proposed
    method is implemented and tested on a small size
    humanoid robot for the evaluation. The experimental
    results illustrate the effectiveness of the proposed method.
    關聯: The 43rd International Symposium on Robotics (ISR2012)
    显示于类别:[電機工程學系暨研究所] 會議論文

    文件中的档案:

    没有与此文件相关的档案.

    在機構典藏中所有的数据项都受到原著作权保护.

    TAIR相关文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈