摘要
过渡步态规划是实现多足爬壁机器人从地面向壁面自动行走的关键问题之一，对于在其它相交面间的自动行走也不可缺少．这里，探讨了一种将复杂的过渡行走运动用两个较易实现的简单部分—“单足跨步运动”和“机身俯仰运动”来组合完成的方法．并通过计算机图形仿真验证了上述方法的可行性和有效性．
Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections.In this paper, a new idea is put forward deviding the complex transit gait into a sequence of two relatively simple parts-single-leg movement and body pitching movement. An algorithm based on the above concept shows its feasibility and effectiveness in the graphic simulation process.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
1996年第3期328-334,共7页
Journal of Shanghai University:Natural Science Edition
关键词
爬壁机器人
过渡行走
运动仿真
步态规划
机器人
wall-climbing robot
ground-to-wall transit gait
kinematic simulation
gait programming
