摘要
本文针对四足步行机在直线行走时的跨沟步态进行了讨论.首先对步行机跨沟前周期步态的运动特性运用相位的概念作了阐述.在此基础上,分别对步行机的最大越沟能力的确定.越沟前初始位置的选取,姿态调整步态的规划和优化,以及稳定性的判别等问题作了分析和研究.并提出了解决此类问题的设想.最后,从简便、通用的角度制订了一套简易实用的跟随越沟步态,为四足步行机越为步态的实现提供了依据.
This paper analyzes the ditch-crossing gaits of a quadruped walking vehicle in its straight movement. First ofall, the kinematic characteristics of perodic gaits of the walking machine before it crosses ditches have been des-cribed by using the concept of phases. Based on this description, several problems, including the determination ofmaximum ditch-crossing ability of the walking machine, thc selection of initial preditch-crossing position, theplanning and optimizaion of posture adjusting gaits and the determination of stability etc., have been analyzed andstudied, and the possible solutions to these problems have been proposed. Finally, a set of simple and practical fol-low-up ditch-crossing gaits has been presented from the point of view of simplicity and versatility, providing use-ful information for the realization of ditch-crossing for quadruped walking vehicle.
出处
《机器人》
EI
CSCD
北大核心
1990年第5期30-34,共5页
Robot
关键词
步行机器人
步态分析
跨河
walking vehicle
gaits
stability
gait planning
