王斌, 干东英. 六足步行机节能最佳腿行程的研究[J]. 机器人, 1991, 13(2): 39-44..
WANG Bin, GAN Donying. OPTIMAL STROKE OF LESS ENERGY CONSUMPTION RESEARCH IN HEXAPOD ROBOT. ROBOT, 1991, 13(2): 39-44..
Abstract：After discovering that the stroke of walking robot has an effect upon it's power consumption, we ana-lysed the optimal stroke of walking machine at low speed and high speed respectively, then obtained theformulae for calculating it's energy consumption and energy consumption rate. This paper calculated andderived the optimal stroke of pantograph leg. At last we gave a theoritical basis for the design of walkingrobot's structure and control of walking machine's walking.
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