潘俊民, 程君实. 4足步行机器人斜坡运动的研究[J]. 机器人, 1991, 13(4): 22-26.
引用本文: 潘俊民, 程君实. 4足步行机器人斜坡运动的研究[J]. 机器人, 1991, 13(4): 22-26.
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PAN Junmin, CHEN Junshi. STUDY OF THE MOTION OF A QUADRUPED WALKING ROBOT ON A SLOPE[J]. ROBOT, 1991, 13(4): 22-26.
Citation: PAN Junmin, CHEN Junshi. STUDY OF THE MOTION OF A QUADRUPED WALKING ROBOT ON A SLOPE[J]. ROBOT, 1991, 13(4): 22-26.
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4足步行机器人斜坡运动的研究

STUDY OF THE MOTION OF A QUADRUPED WALKING ROBOT ON A SLOPE

    摘要
  • 摘要: 在4足步行机的运动环境中，上下坡是一种基本的典型环境．本文研究了缩放式4足步行机在上下坡环境中运动的一些基本规律，得出了上下坡时4足步行机在不同坡度下的最大步长，最佳机体高度．对4足步行机上下坡时能保持稳定运动的边界环境条件也进行了研究．

     

    Abstract: In this paper, basic laws by which a pantograph quadruped walking robot moves on a slope are studied. The maxi-mum step length and the optimal body height are derived for different gradients of the slope. Boundary conditions whichguarantee stable motion of the robot on a slope are also studied.

     

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