步行机器人中稳定裕度的动态度量

详细信息

ON THE DYNAMIC MEASURING OF STABILITY MARGIN OF LEGGED LOCOMOTION

摘要: 本文分析了步行机器人中现有的两类稳定裕度的度量方法．给出了一种既考虑步行机构及支撑地形特点，又考虑步行速度因素影响的动态度量方法——机械能稳定裕度度量．
- 步行机器人 /
- 稳定裕度 /
- 动态步行
Abstract: A brief discussion and comparison on the existing methods of measuring the stability margin on legged loco-motion is given in this paper.Based on these methods,an improved and dynamic measuring criterion,i.e.the mechanical energy stability margin,is presented.The new criterion of measuring takes into account boththe characteristics of supporting ground and the dynamic effects of walking velocity on legged robot.The newmeasuring is of great importance to the researches on dynamic walking.
- legged robot /
- stability margin /
- dynamic walking

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