[1] 谭民,王硕.机器人技术研究进展[J].自动化学报,2013,39(7): 963-972. TAN M,WANG S. Advances in robotics research[J]. Acta Automatica Sinica, 2013,39(7):963-972.(in Chinese)
[2] 王东署,朱训林.未知环境中考虑姿态稳定性的自主机器人路径规划[J].郑州大学学报(工学版),2014,35(5):31-35. WANG D S, ZHU X L. Path planning of autonomous robot consi- dering attitude stability in unknown environment[J]. Journal of Zhengzhou University (Engineering Science), 2014, 35(5): 31-35. (in Chinese) [3] SEMINI C, TSAGARAKIS N G,GUGLIELMINO E, et al.Design of HyQ - a hydraulically and electrically actuated quadruped robot[J]. Proceedings of the Institution of Mechanical Engineers,Part Ⅰ: Journal of Systems and Control Engineering, 2011, 255(6): 831-849. [4] 王鹏飞,孙立宁,黄博. 地面移动机器人系统的研究现状与关键技术[J].机械设计,2006,23(7):1-4. WANG P F, SUN L N, HUANG B. Research status and key technologies of ground mobile robot system[J]. Journal of Machine Design, 2006, 23(7): 1-4.(in Chinese)
[5] 李赫,张文志,李伟娟,等.四足步行机器人稳定性及步态研究[J].机械制造,2009,47(1):16-18. LI H, ZHANG W Z, LI W J, et al. Study on stability and gait of quadruped robot[J]. Michinery, 2009, 47(1): 16-18. (in Chinese)
[6] 陈学东,孙翔,贾文川. 多足步行机器人运动规划与控制[M].武汉:华中科技大学出版社,2006. CHEN X D, SUN X, JIA W C. Motion planning and control of multilegged walking robots[M]. Wuhan: Huazhong University of Science and Technology Press, 2006.(in Chinese)
[7] RAIBERT M, BLANKEROOR K, NELSON G,et al. BigDog, the rough-terrain quadruped robot[C]∥Proceedings of the 17th World Congress of the International Federation of Automatic Control Seoul. Seoul, South Korea: International Federation of Automatic Control, 2008: 6-9. [8] FUKUOKA Y. Adaptive dynamic walking of a quadruped robot‘Tekken’ on irregular terrain using a neural system model[C]∥ Proceedings of 2003 IEEE International Conference on Robotics and Automation. Taipei, Taiwan, China: IEEE, 2003: 2037-2042. [9] DASGUPTAA B, MRUTHYUNJAYA T S. The stewart platform manipulator: a review[J]. Mechanism and Machine Theory, 2000, 35(1): 15-40.
[10] TSAI L W. Robot analysis: the mechanics of serial and parallel manipulators[M]. New York,NY,US: John Wiley & Sons, 1999. [11] 刘辛军.并联机器人机构尺寸与性能关系分析及其设计理论研究[D].秦皇岛:燕山大学,1999. LIU X J. Analysis of the relation between size and performance of parallel robot mechanism and its design theory[D]. Qinhuang- dao: Yanshan University, 1999.(in Chinese)
[12] KLEIN C A, BLAHO B E. Dexterity measures for the design and control of kinematic redundant manipulators[J].International Journal of Robotics Research, 1987, 6(2): 72-83. [13] KAR D C, ISSAC K K,JAYARAJAN K.Minimum energy force distribution for a walking robot[J].Journal of Field Robotics, 2015, 18(2): 47-54. [14] 孟健,李贻斌,李彬.四足机器人对角小跑步态全方位移动控制方法及其实现[J].机器人,2015,37(1):74-84. MENG J, LI Y B,LI B.The control method and realization of omnidirectional movement of the four-legged robot trot[J]. Robot, 2015,37(1):74-84. (in Chinese)
[15] WANG C, ZHANG T, WEI X. Dynamic characteristics and stability criterion of rotary galloping gait with an articulated passive spine joint[J].Advanced Robotics, 2016, 31(4): 1-16. [16] KAWASAKI R,SATO R.Development of a flexible coupled spine mechanism for a small quadruped robot[C]∥Proceedings of IEEE International Conference on Robotics and Biomimetics. Bali,Indonesia:IEEE, 2017: 71-76. [17] PARK S H, KIM D S, LEE Y J. Discontinuous spinning gait of a quadruped walking robot with waist-joint[C]∥Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.Edmonton,AL,Canada: IEEE,2005: 2744-2749. [18] 甄伟鲲,康熙,张新生.一种新型四足变胞爬行机器人的步态规划研究[J].机械工程学报,2016,52(11):26-33. ZHEN W K, KANG X, ZHANG X S. Gait planning of a novel metamorphic quadruped robot[J]. Journal of Mechanical Engineering,2016,52(11):26-33.(in Chinese)
[19] HIROSE S H.A study of design and control of a quadruped walking vehicle[J].The International Journal of Robotics Research,1984, 3(2):113-133. [20] 罗庆生,罗霄.仿生四足机器人技术[M].北京:北京理工大学出版社,2016:81-114. LUO Q S,LUO X. Quadruped bionic robo technology[M]. Beijing: Beijing Institute of Technology Press, 2016: 81-114. (in Chinese)
[21] PACK D J, KANG H S. An omnidirectional gait contorl using a graph search method for a quadruped walking robot[C]∥Proceedings of IEEE International Conference on Robotics and Automation. Nagoya,Japan:IEEE, 1995:988-994. [22] HU N, LI S Y, HUANG D, et al. Crawling gait planning for a quadruped robot with high payload walking on irregular terrain[C]∥Proceedings of the 19th World Congress of the International Federation of Automatic Control.Cape Town,South Africa:International Federation of Automatic Control,2014: 2153-2158. [23] GAGLIARDINI L, TIAN X H, GAO F, et al. Modelling and trajectory planning for a four legged walking robot with high payload[C]∥Proceedings of the 4th International Conference on Social Robotics. Berlin, Germany: Springer, 2012: 552-561. [24] WANG H B, SANG L F, HU X, et al. Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism[J].Chinese Journal of Mechanical Engineering, 2013,26(5) : 881-891. [25] 张云,郭振武,陈迪剑,等. 基于Kimura振荡器和虚拟模型的气动肌肉四足机器人步态控制[J].兵工学报,2018,39(7):1411-1418. ZHANG Y, GUO Z W, CHEN D J, et al. Gait control of quadruped robot driven by pneumatic muscle based on Kimura oscillator and virtual model[J]. Acta Armamentarii, 2018, 39(7): 1411-1418. (in Chinese)
第41卷第6期2020 年6月 兵工学报ACTA ARMAMENTARII Vol.41No.6Jun.2020
|