多自由度步行机器人

多自由度步行机器人(中文4400字,英文3000字)
摘要
    在现实生活中设计一款不仅可以倒下而且还可以站起来的机器人灵活智能机器人很重要。本文提出了一种两臂两足机器人，即一个模仿机器人，它可以步行、滚动和站起来。该机器人由一个头，两个胳膊和两条腿组成。基于远程控制，设计了双足机器人的控制系统，解决了机器人大脑内的机构无法与无线电联系的问题。这种远程控制使机器人具有强大的计算头脑和有多个关节轻盈的身体。该机器人能够保持平衡并长期使用跟踪视觉，通过一组垂直传感器检测是否跌倒，并通过两个手臂和两条腿履行起立动作。用实际例子对所开发的系统和实验结果进 行了描述。

Multi-degree of freedom walking robot
Abstract
    Focusing attention on flexibility and intelligent reactivity in the real world, it is more important to build, not a robot that won’t fall down, but a robot that can get up if it does full down. This paper presents a research on a two-armed bipedal robot, an apelike robot, which can perform biped walking, rolling over and standing up. The robot consists of a head, two arms, and two legs. The control system of the biped robot is designed based on the remote-brained approach in which a robot does not bring its own brain within the body and talks with it by radio links. This remote-brained approach enables a robot to have both a heavy brain with powerful computation and a lightweight body with multiple joints. The robot can keep balance in standing using tracking vision, detect whether it falls down or not by a set of vertical sensors, and perform getting up motion colaborating two arms and two legs. The developed system and experimental results are described with illustrated real examples.