摘要
针对足式机器人面临的挑战和具体应用需求,首先提出了高机动足式越野行走技术的基本概念,分析了越野环境对行走机构和步态行为产生的影响;其次,从腿/足/壤地面力学、步态行为和动力学模型等角度揭示了足式越野行走的基本原理;然后总结了为适应战场越野环境足式机器人所需的关键技术,并提出了相应的技术手段;最后展望了未来高机动足式越野行走关键技术的研究热点,为足式机器人军事化应用奠定了基础。
Aiming at the challenges and application requirements of footed robots,firstly,the basic concept of high mobility footed cross-country walking technology is proposed,and the influence of field terrain on walking mechanism and gait behavior is analyzed.Secondly,the basic principles of footed cross-country walking are revealed from the perspectives of leg/foot/soil terramechanics,gait behavior and dynamics model.Then the key technologies required to adapt to the battlefield cross-country environment are summarized,and the corresponding technical means are proposed.Finally,the future research hotspots of key technologies for high-mobility footed cross-country walking are prospected,laying the foundation for the militarized application of footed robots.
作者
苏波
许威
江磊
闫曈
SU Bo;XU Wei;JIANG Lei;YAN Tong(China North Vehicle Research Institute,Beijing 100072,China)
出处
《装甲兵学报》
2022年第2期71-77,共7页
Journal of Armored Forces
基金
国家自然科学基金项目(91748211)
