孙汉旭, 张启先. 四足步行机结构参数P、Q的关系与稳定裕量S的分析[J]. 机器人, 1989, 11(6): 27-33..
SUN Hanxu, ZHANG Qixian. THE RELATION BETWEEN THE POSITION CONSTRUCTION PARAMETERS P AND Q OF A QUADRUPED WALKING ROBOT AND AN ANALYSIS OF THE STABILITY MARGINS. ROBOT, 1989, 11(6): 27-33..
Abstract：This paper investigates the relationship between the position parameters P and Q of the legs of a quad-ruped walking robot.The △K boundary equal to P minus Q has been given.When the length is not cqual tothe width of motion space of a leg,a reasonable dafa of △K has been given.The stability margin S under theinfluence of the weight of legs and the speed of robot has been rcsearched,and the increment of stabilitymargin has been introduced.
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