›› 2016, Vol. 29 ›› Issue (2): 77-.

• 论文 • 上一篇    下一篇



  1. (上海理工大学 光电信息与计算机工程学院,上海 200093)
  • 出版日期:2016-02-15 发布日期:2016-02-25
  • 作者简介:顾岩秀(1990—),女,硕士研究生。研究方向:精密仪器与机械。

Structural Design and Height Optimization of Manned Biped Robot

GU Yanxiu,HUA Yunsong   

  1. (School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
  • Online:2016-02-15 Published:2016-02-25



关键词: 机器人, 自由度, 高度优化, 加加速度


For the problem of wheelchair inconvenience when crossing stairs,steps,ravines and other obstacles,combining with legged robots,this paper proposes the structural design of a new manned biped robot.Just with two degrees of freedom,its control is very simple.In order to get the most comfortable ride height of the human body,take the third derivative of the movement curve of the thigh to get the jerk.Then the optimum height is determined through analysis of the absolute value of the jerk.The simulation results are carried out to verify the motion stability of the robot mechanism by using Matlab.Through multiple test data analysis,the results of the evaluation of the software are consistent with the theoretical values of the mathematical calculation and error rate is less than 1%.

Key words: robot;degree of freedom;height optimization;jerk


  • TP242.6