[{"data":1,"prerenderedAt":91},["ShallowReactive",2],{"\u002Fglossary\u002Fdegrees-of-freedom":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":81,"extension":82,"keywords":83,"meta":84,"navigation":85,"path":86,"seo":87,"stem":88,"updated":89,"__hash__":90},"glossary\u002Fglossary\u002Fzh\u002Fdegrees-of-freedom.md","自由度（DoF）","Degrees of Freedom (DoF)",{"type":8,"value":9,"toc":75},"minimark",[10,15,29,33,55,59,67],[11,12,14],"h1",{"id":13},"自由度是什么","自由度是什么？",[16,17,18,22,23,28],"p",{},[19,20,21],"strong",{},"自由度","（Degrees of Freedom，DoF）指机器人可独立控制的运动轴数量。每个可主动驱动的旋转或平移关节记为一个自由度，通常对应一台",[24,25,27],"a",{"href":26},"\u002Fglossary\u002Fjoint-motor","关节电机","。",[30,31,32],"h2",{"id":32},"自由度决定动作能力",[34,35,36,43,49],"ul",{},[37,38,39,42],"li",{},[19,40,41],{},"6 自由度","是机械臂在三维空间达到\"任意位置 + 任意姿态\"的最低要求（3 个定位置 + 3 个定姿态）；",[37,44,45,48],{},[19,46,47],{},"7 自由度","手臂引入一个冗余自由度，可在末端位姿不变的情况下调整肘部位置，绕开障碍、优化姿态——这正是人类手臂的构型；",[37,50,51,54],{},[19,52,53],{},"人形机器人","需要全身协调，自由度通常在 30 个以上。",[30,56,58],{"id":57},"实例elf-3-的-31-个自由度","实例：Elf 3 的 31 个自由度",[16,60,61,62,66],{},"BXI ",[24,63,65],{"href":64},"\u002Frobots\u002Fhumanoid-robot","Elf 3 人形机器人","全身 31 个自由度（不含手）：单腿 6、单臂 7、腰 3、头 2。腿部 6 自由度覆盖行走所需的髋（3）、膝（1）、踝（2）；7 自由度手臂提供类人操作冗余；3 自由度腰部扩大可达作业空间。",[16,68,69,70,74],{},"自由度越多，对执行器数量、控制总线带宽（见 ",[24,71,73],{"href":72},"\u002Fglossary\u002Fmit-protocol-can","MIT 协议","）与整机重量的压力越大，因此自由度布局是人形机器人设计的核心取舍之一。",{"title":76,"searchDepth":77,"depth":77,"links":78},"",2,[79,80],{"id":32,"depth":77,"text":32},{"id":57,"depth":77,"text":58},"自由度是描述机器人可独立运动的关节轴数量的指标，直接决定动作能力：6 自由度机械臂可达任意位姿，人形机器人通常需要 30 个以上自由度实现全身协调。","md","自由度, DoF, 机器人自由度, 人形机器人自由度, 冗余自由度",{},true,"\u002Fglossary\u002Fzh\u002Fdegrees-of-freedom",{"title":5,"description":81},"glossary\u002Fzh\u002Fdegrees-of-freedom",null,"WbeD1UUNTWrnCF2_fDsBzYPfOtEtXY3Rupv1r26Uc2w",1783425866708]