1、21 4 1999 M7机器人 ROBOTV ol. 21, No. 4July, 1999cI|: 1002-0446( 1999) 04-0312-09V _ N# 5 包志军 马培荪 姜 山 程君实 王春雨( ZYv200030)K 1: V ?Z_ N,s 1、 ? K BtC -,i_ + 4 Bt5.1oM: ;_ ;1; ? K; ms |: TP24 DS M : A1 W E、 *BvF,B q1 V:“ Kv+B ?”. v MZ T, T1 , B. 7, 49 ,v 5 | E . ( 3 7 5 s,y 1 、“ Z_ Y ,4 M1 M -“ Z_ ?hl .Yp
2、V ( H r , B1 y ,L !y ) sB, T /:z = - I- 1g = I- 1( C1 Z )t1+ I- 1( C2 Z )t2+ I- 1( C3 Z )tW3+ I- 1WUP e . k1 , : s ,1 B HM, 31721 4 +: V _ N# 5 S( hl1MT ?hl Y, | nD50.F,BK* e I n 5 8 , ,i| WL- 10RDWL- 12. ,r. “5. , 1989, 3( 4)31921 4 +: V _ N# 550 YU AN- FANG ZHENG, HEM AM I. Impact Effects of Biped
3、 Contact with the Environment. IE E Transactions onSystem, Man, and Cybernetics, 1984, SMC- 14( 3)51 Light L H, McLellan H G, Klenerman L. Skeletal Transients on Heel Strike in No rm al Walking w ith DifferentFoo tw ear. J Biomenchanics, 1980, 13: 477- 480THE PROBLEM AND THE RESEARCH HISTORY FROMBIP
4、ED ROBOT TO HUMANOID ROBOTBAO Zhijun M A Peisun JIANG San CHENG Junshi W ANG Chunyu(Mechanical School of ShangHai Jiao TongUniversity 200030)Abstract: This paper int roduce the developing history from biped robot to humanoid robot , The presentstate and perspectives of th e problems about DOF dispos
5、ition、 energy and impact are manifested. Somedifferences about th e dynamics characters between biped robot and humanoid robot are also come up in thispaper. .Key words: Biped robot , humanoid robot, DOF disposition, optimal trajectories for low energy, impactTe:包志军: 男, 27岁,博士生.研究领域: 机器人学.马培荪: 男, 61
6、岁,教授,博士生导师.研究领域:机器人学、机器人动力学.姜 山: 男, 25岁,博士生.研究领域: 机器人控制.( 311:)STUDY ON THE PROPERTY OF BIONIC SKINSENSOR SUITABLE FOR ROBOTZHANG Ling1 HE Wei2 JIAN Yang3( 1. 3. Departmentof Electronic Engineering, Chongqing University,Chongqing, 400044)( 2. Yuzhou University, Chongqing, 400044)Abstract: In this pa
7、per the structure of bionic skin sensor which possesses tactile sensation, smoothsensation and heat sensation, is analyzed. Piezoelectric property of the PV DF sensor is studied, and ananalytical model of the bionic skin is constructed.Key words: PVDF; bionic skin; piezoelectric effectTe:张 玲: 女, 34岁,副教授.研究领域: 传感器、机器人等.320 1999 M7
