甘建国, 朱玮, 干东英. 六足步行机跟导步态研究[J]. 机器人, 1994, 16(4): 235-238,256.
引用本文: 甘建国, 朱玮, 干东英. 六足步行机跟导步态研究[J]. 机器人, 1994, 16(4): 235-238,256.
GAN ianguo, ZHU Wei GAN, Dongying. FOLLOW-THE-LEADER GAIT STUDY FOR SIX-LEGGED WALKING VEHICLE[J]. ROBOT, 1994, 16(4): 235-238,256.
Citation: GAN ianguo, ZHU Wei GAN, Dongying. FOLLOW-THE-LEADER GAIT STUDY FOR SIX-LEGGED WALKING VEHICLE[J]. ROBOT, 1994, 16(4): 235-238,256.

六足步行机跟导步态研究

FOLLOW-THE-LEADER GAIT STUDY FOR SIX-LEGGED WALKING VEHICLE

  • 摘要: 本文给出了工程中实用的六足步行机器人跟导步态的实现条件,用能量法分析了这种步态的运动稳定性,给出了采用这种步态的六足步行机的最大运动速度求解方法,分析了这种步态的越沟能力,并在SGI工作站上对该步态的平地行走、跨沟及斜坡行走情形进行了仿真实验.

     

    Abstract: This paper gives the realization conditions of the practical follow-the-leader gait for six-leggedwalking vehicle in engineering and the motion stability analysis of this gait with energy stability method.Amethod to solve the fastest velocity of the gait, and the ditch-crossing capability analysis of the gait are discussed. An experiment to simulate the situations of the gait is given, such as walking on a plane, ditch-crossing and slope walking.

     

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