摘要
介绍了ＪＴＵＷＭ－Ⅲ型多关节四足步行机器人．设计了Ｔｒｏｔｔｉｎｇ步态，并完成了Ｔｒｏｔｉｎｇ动态步行实验．步行速度为０．２ｋｍ／ｈ，占空系数β＝０．５．
The “JTUWM Ⅲ” multiple joint quadruped walking robot made by Shanghai Jiaotong University is introduced. The gait of trotting is designed and the different control modes for each free joint are used according to the trajectory of robots foot. The trotting experiment has been finished, in which the speed of quadruped walking robot is 0.2 km/h and the duty factor β is 0.5.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1997年第6期18-23,共6页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金
国家科委863计划
