| Study and Development of the Biped Ice Skating Robot with Passive Wheels |
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| 作者姓名： | 徐子力 吕恬生 田华 徐振华 宋立博 |
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| 作者单位： | School of Mechanical Eng. Shanghai Jiaotong Univ.，School of Mechanical Eng. Shanghai Jiaotong Univ.，Hewlett-Packard Tech. Shanghai Co.Ltd.，School of Mechanical Eng. Shanghai Jiaotong Univ.，School of Mechanical Eng. Shanghai Jiaotong Univ.，Shanghai 200240 China，Shanghai 200240 China，Shanghai 200131 China，Shanghai 200240 China，Shanghai 200240 China |
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| 摘 要： | A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn.
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Study and Development of the Biped Ice Skating Robot with Passive Wheels |
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| XU Zi-li,LV Tian-sheng,TIAN Hua,XU Zhen-hua,SONG Li-bo,.Study and Development of the Biped Ice Skating Robot with Passive Wheels[J].Journal of Shanghai Jiaotong university,2007,12(6):780-786. |
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| Authors: | XU Zi-li LV Tian-sheng TIAN Hua XU Zhen-hua SONG Li-bo |
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| Abstract: | A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn. |
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| Keywords: | biped ice-skating robot(BISR) gait plan kinematics mapping control system |
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