摘要
本文对缩放式四足步行机器人(简称步行机)的全方位行走问题进行了探讨。给出了一种拟定全方位行走的方法,同时,给出了用该方法拟定出步态的可行性条件和垂直方向稳定性条件。举例摸拟了步行机按拟定出的全方位步态的行走。
This paper investigates the problem of walking of quadruped walking robot in all position and direction. A designing method of a stable and realizable gait of walking robot in all position and direction has been given. The boundary of realizable stride length λ=(m^2+n^2)^(1/2) and angle a between the motion direction and y-axis of frame coordinates system has been calculated by computer.
出处
《光学机械》
CSCD
1989年第1期45-51,共7页
关键词
机器人
四足步行机
全方位行走
Quadruped walking robot, All position and direction, Gait.
