介绍了拟人机器人上肢运动检测与控制系统。
A detecting and control system for arm motion of the humanoid robot is described.
首先，从几何构造分析出拟人机器人各部分运动规律。
First the kinematics formulas are deduced by analyzing its geometry structure.
下肢机构的仿生构形设计一直是拟人机器人与康复假肢研究的重要课题。
Bionics shape design of lower limb prosthesis has always been the subject for the study of humanoid robot and rehabilitative prosthesis.
人体运动在电影制作、视频游戏、虚拟现实应用以及拟人机器人控制中都占有非常重要的地位。
Human motion has played a very important role in file production, video games, virtual reality applications, and control of humanoid robot.
为解决机构复杂的拟人机器人运动学和动力学问题，提出了基于传统机理结合神经网络的建模方法。
To resolve the kinematics modeling and dynamics modeling of a humanoid robot with complicated machine, a modeling method based on the conventional mechanism combined with neural network is presented.
拟人机器人是当前机器人研究领域中最新的研究方向，机器人视觉系统是其智能化最重要的标志之一。
Anthropomorphic robot is one of the hottest research directions in robot field, and robot vision system is one of the most important markers of robot intelligence.
提出了坐标变换、三角变换等方法，巧妙求解出拟人机器人TH- 1手臂逆向运动学的解析表达式。
Coordination transform, triangle transform, etc are proposed to successfully derive the inverse kinematics analytic equations for the humanoid robot th 1 arms.
通过引入基于平均功率、平均功率偏差、平均力矩损耗三个能耗指标对拟人机器人步态进行了优化与分析。
Gait of humanoid robot is optimized and analyzed by introducing three energy consumption indexes: mean power, mean power derivation and mean torque consumption.
采用BP神经网络建立拟人机器人步态稳定的模型，仿真结果表明该方法简单易行，能够提高机器人步态稳定的实时性。
The BP neural network is used to establish the gait stability of robotics. Simulations show that the proposed method is feasible easily, and it can improve the real-time of gait stability.
为使足行拟人机器人的下肢机构结构更加紧凑灵活，提出了一种串并联结构相结合的双足步行机器人下肢机构设计方案。
In order to the legal mechanism of biped humanoid robot becomes more compact and flexible, a new scheme combined serial and parallel structure was proposed for leg design of biped robot.
拟人机器人的动力学具有高度非线性、高度耦合的特点，分析清楚各组成部分之间的交互作用力是实施高级控制方法的基础。
The dynamics equation of humanoid robot is highly nonlinear and highly coupled, so analyzing the interactive forces between different parts is the basis of advanced control methods.
本课题的研究任务是：做好拟人足球机器人的基础性研究工作，构建起拟人机器人总体研究框架，为后续研究工作奠定基础。
My task is to do the basic research work on the humanoid soccer robot and construct the whole study frame in order to build the foundations for the future work.
由于拟人机器人自由度数目众多而且不存在一般工业机器人那样的固定基座，使用常规方法对其进行运动学分析并不是很合适。
It is inapposite to analyze kinematics of humanoid robot with general method because its DOF is high and it has not a fixed base like industrial robots.
使用ARM9处理器s3c 2410和RT - Linux构建小型拟人机器人控制器的系统架构，以拟人机器人的行走控制为例，从硬件和软件上介绍了控制器的实现方法。
The controller system architecture consists of a S3C2410 chip with the ARM9 core running RT-Linux. The implementation including hardware and software is illustrated by a robot walking example.
使用ARM9处理器s3c 2410和RT - Linux构建小型拟人机器人控制器的系统架构，以拟人机器人的行走控制为例，从硬件和软件上介绍了控制器的实现方法。
The controller system architecture consists of a S3C2410 chip with the ARM9 core running RT-Linux. The implementation including hardware and software is illustrated by a robot walking example.
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