An Overview of the Underactuated Biped Robots

摘要：

This paper presents an overview on underactuated biped robots.Firstly,background,latest research and characteristics of underactuated biped robot are introduced. Secondly,the model of underactuated biped walking system is described.And then the stability criterion based on hybrid zero dynamics theory and the Poincaré map is discussed.Meanwhile, commonly used methods for off-line gait planning and control strategies are analyzed.Finally,several open problems need further research and the development directions are indicated and discussed.

作者: Zhensheng You Zhihuan Zhang

作者单位: State Key Lab.of Industrial Control Technology Zhejiang University Hangzhou,Zhejiang Province,China Ningbo Institute of Technology Zhejiang University Ningbo,Zhejiang Province,China

会议类型: 国际会议

会议名称: 第八届IEEE信息与自动化国际会议(ICIC 2011)

会议地点: 深圳

会议语种:英文

页码: 772-776

在线出版日期: 2011-06-06（万方平台首次上网日期，不代表论文的发表时间）