摘要
设计了一种具有良好的机动性能和转向性能的混联的腿机构的四足机器人。为提高机器人对苛刻的非结构环境的适应能力,提出了一种基于力反馈的非环境识别方法,给出了各关节反力与足端力的函数关系。通过在Matlab仿真,给出了3种典型力的识别方法和传感器的安装位置,从而证明了该方法的可行性。
This paper designs a mixed leg mechanism quaduped robot with excellent mobility and performance. To improve adaptability in harsh unstructured enviroment, a method based on force feedback is introduced.The function of reaction force and torque in each jiont and the force at the foot is given. The identification methods of three typical force and sensor installation location is given by Matlab simulation which prove the feasibility of the method.
出处
《机械工程师》
2008年第2期62-65,共4页
Mechanical Engineer
关键词
四足机器人
腿机构
非结构环境识别
quadruped robot
leg mechanism
unstructured environment recognition
