| 题名 | Design of a customized humanoid robot with coevolution of body morphology and its locomotion |
| 作者 | |
| 通讯作者 | Shi, Xunlei |
| 发表日期 | 2022-02-01
|
| DOI | |
| 发表期刊 | |
| ISSN | 0263-5747
|
| EISSN | 1469-8668
|
| 卷号 | 40页码:3013-3032 |
| 摘要 | An important goal for humanoid robots is to achieve fast, flexible and stable walking. In previous research, the structure and walking algorithms evolved separately, resulting in a slow evolution speed and lack of an initial design basis. This paper proposes comprehensively considering body morphology and walking patterns, exploring the relationship between them and their influence on the motion ability. The method parameterizes the body morphology and walking patterns. Then a response surface model is established to describe the complex relationship between these parameters and finally obtain the optimized parameters, which provides a reference for the structural design and gait generation. |
| 关键词 | |
| 相关链接 | [来源记录] |
| 收录类别 | |
| 语种 | 英语
|
| 学校署名 | 其他
|
| 资助项目 | State Key Laboratory of Tribology[SKLT2019C08]
; National Natural Science Foundation of China[61403225]
; Shenzhen and Hong Kong innovation Circle Project[SGLH 20180619172011638]
|
| WOS研究方向 | Robotics
|
| WOS类目 | Robotics
|
| WOS记录号 | WOS:000754426000001
|
| 出版者 | |
| EI入藏号 | 20220811695475
|
| EI主题词 | Anthropomorphic robots
; Machine design
; Structural design
|
| EI分类号 | Structural Design, General:408.1
; Mechanical Design:601
; Robotics:731.5
; Physical Properties of Gases, Liquids and Solids:931.2
; Materials Science:951
|
| ESI学科分类 | ENGINEERING
|
| 来源库 | Web of Science
|
| 引用统计 |
被引频次[WOS]：1
|
| 成果类型 | 期刊论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/291069 |
| 专题 | 工学院_机械与能源工程系 |
| 作者单位 | 1.Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China 2.Tsinghua Univ, State Key Lab Tribol, Beijing 100084, Peoples R China 3.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China |
| 推荐引用方式 GB/T 7714 |
Zhang, Jiwen,Shi, Xunlei,Fu, Chenglong,et al. Design of a customized humanoid robot with coevolution of body morphology and its locomotion[J]. ROBOTICA,2022,40:3013-3032.
|
| APA |
Zhang, Jiwen,Shi, Xunlei,Fu, Chenglong,Liu, Li,&Chen, Ken.(2022).Design of a customized humanoid robot with coevolution of body morphology and its locomotion.ROBOTICA,40,3013-3032.
|
| MLA |
Zhang, Jiwen,et al."Design of a customized humanoid robot with coevolution of body morphology and its locomotion".ROBOTICA 40(2022):3013-3032.
|
| 条目包含的文件 | 条目无相关文件。 | |||||
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