仿人机器人与传统机械臂对比
| Common Point with manipulator robot | Main difference | |
|---|---|---|
| dynamic model | be view as a tree structure;Parameterisation with frame attached to each body and matrix of transformation | manipulator using the same model all the time;walking robot model different phases using different model |
| contact with the ground | always fixed in ground | Intermittent contact with the ground |
| Inverse dynamic modelling | same for L and NE | Reaction force from the ground must be calculated. Constraint to describe the contact with the ground |
仿人机器人的参数化表示
DDM
◦ Calculation of the acceleration of the joint and of the link C 0
◦ Calculation of the reaction forces
◦ Position, velocity and joint torques are known.
IDM
◦Calculation of joint torques and reaction force
◦Corresponding to known position and velocities and desired acceleration
| 单词 | 释义 |
|---|---|
| Intermittent | 间歇 |
| implicit constraint | 隐式约束 |
| trunk | 躯干 |
| heel | 脚后跟；踵 |
| ankle | 脚踝 |
| penetrate | 渗透；刺入；看透 |
| deformable | 可变形的 |
| coincides | 一致，符合；同时发生 |