徐佩君, 马培荪, 庄继德. 一种评定步行机稳定性的新方法及其应用[J]. 机器人, 1994, 16(4): 198-202.
引用本文: 徐佩君, 马培荪, 庄继德. 一种评定步行机稳定性的新方法及其应用[J]. 机器人, 1994, 16(4): 198-202.
XU Pejiun, MA Peisun, ZHUANG Jide. A NEW METHOD TP EVALUATE THE STABILITY OF LEGGED ROBOT AND ITS APPLICATION[J]. ROBOT, 1994, 16(4): 198-202.
Citation: XU Pejiun, MA Peisun, ZHUANG Jide. A NEW METHOD TP EVALUATE THE STABILITY OF LEGGED ROBOT AND ITS APPLICATION[J]. ROBOT, 1994, 16(4): 198-202.

一种评定步行机稳定性的新方法及其应用

A NEW METHOD TP EVALUATE THE STABILITY OF LEGGED ROBOT AND ITS APPLICATION

  • 摘要: 本文提出了用稳定角和稳定行程作为步行机稳定性的评价格标,讨论了稳定角、稳定行程与稳定裕量、能量稳定裕量之间的关系,分析了步行机在坡道上沿任意方向行走的稳定性及其越坡能力,提出了描述步行机稳定状况的稳定区域图.

     

    Abstract: In this paper,a stable angle and a stable throw are put forward to evaluate the stability of leggedrobot.The relation:among stability margin, energy stability margin and stable angle,stable throw are discussed.The slope-walking ability and stability of legged robot are analysed. The stability region figure describing the stable situation of robot is also presented in the paper.

     

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