经由耦合振荡模型正弦模式的调变产生一个对人形机器人....pptVIP

A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots Modulation of Sinusoidal Patterns by a Coupled Oscillator Model經由耦合振盪模型正弦模式的調變產生一個對人形機器人的生物靈感步態策略 研 究 生：謝忠豫 指導老師：王明賢 教授 報告日期 : 2010/12/24 Abstract 1. Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. 2. humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. 3. use the center-of-pressure location and velocity to detect