六足步行机横向行走最佳步态及其运动特性初探

OPTIMAL GAIT FOR A SIX-LEGGED LATERALLY-WALKING ROBOT AND ANALYSIS OF ITS KINEMATIC CHARACTERISTICS

  • 摘要: 本文分别以纵向稳定裕量和一般稳定裕量为准则,通过对六足步行机横向行走几何模型的分析和计算机优化计算,得出六足步行机横向运动时的最佳步态为广义三角步态.此外,文中对广义三角步态的运动特性(包括静态稳定性、爬坡能力、越沟能力等)进行了初步研究,阐明了这些运动特性与步行机若干几何参数间的内在联系,为六足步行机的总体尺寸设计提供了理论依据.

     

    Abstract: Study on the gaits of legged locomotion systems is indispensable to geometric designof real machines.In this paper,the authors study the gait selection problem of six-legged laterally-walking robots,employing both longitudinal and general stability ma-rgins as criteria of evaluating the static stability of a legged locomotion system.After optimization calculation on a computer,it is shown that there exist a groupof optimal gaits which are defined by the authors as quasi-tripod gaits.In the secondpart of the paper.the authors analyse such kinematic characteristics as staticstability,slope negotiation capability,and ditch negotiation capability for quasitripodgaits.Relationship between these characteristics and several geometric parameters ofthe robot is established.

     

/

返回文章
返回