基于模糊的步行机攀登步态规划

张江红, 汪劲松, 张伯鹏. 基于模糊的步行机攀登步态规划[J]. 机器人, 1996, 18(4): 206-211.

引用本文:

张江红, 汪劲松, 张伯鹏. 基于模糊的步行机攀登步态规划[J]. 机器人, 1996, 18(4): 206-211.

ZHANG Jianghong, WANG Jinsong, ZHANG Bopeng. FUZZY-BASED CLIMBING GAIT PLANNING OF A LEGGED ROBOT[J]. ROBOT, 1996, 18(4): 206-211.

Citation:

ZHANG Jianghong, WANG Jinsong, ZHANG Bopeng. FUZZY-BASED CLIMBING GAIT PLANNING OF A LEGGED ROBOT[J]. ROBOT, 1996, 18(4): 206-211.

FUZZY-BASED CLIMBING GAIT PLANNING OF A LEGGED ROBOT

摘要: 针对步行机攀登桁架、梯子等不连续“壁面”情况，本文给出了一种有效的基于模糊的攀登步态规划和控制方法，文章最后通过仿真和实验对该方法进行了验证．

Abstract: A stable and realiable climbing gait planning is essential for a legged robot to climb a truss or a ladder. In this paper, a fuzzy-based climbing gait planning is proposed, which is proved to be a successful method by simulation and experiment.

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