| 五足步行机器人步态研究 |
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| 引用本文： | 汪劲松,张江红,冯之敬,张伯鹏.五足步行机器人步态研究[J].机械工程学报,1997(4). |
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| 作者姓名： | 汪劲松 张江红 冯之敬 张伯鹏 |
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| 作者单位： | 清华大学精仪系 |
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| 基金项目： | 国家自然科学基金,清华大学科学研究基金 |
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| 摘 要： | 将五足步行机规则步态分为奇异和非奇异两大类型，对步态种类数、负荷因Ｐ子取值范围、稳定行走条件以及稳定裕度求算进行了分析，所得结论对于指导五足机的机构和实用步态设计有重要理论意义。
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| 关 键 词： | 五足机器人，步态，稳定裕度 |
STUDY OF GAIT OF FIVE-LEGGED ROBOT |
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| Wang Jinsong Zhang Jianghong Feng Zhijing Zhang Bopeng.STUDY OF GAIT OF FIVE-LEGGED ROBOT[J].Chinese Journal of Mechanical Engineering,1997(4). |
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| Authors: | Wang Jinsong Zhang Jianghong Feng Zhijing Zhang Bopeng |
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| Affiliation: | Qinghua University |
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| Abstract: | Regular gait of five-legged robot can be divided into singular one and unsingular one. Some essential is- sues, such as the number of gaits, the range of duty factor, the condition for static stable walking and how to calcu- late the longitudinal stability, are analysed . The conclusions obtained are significant to the design of mechanical structure and practical gaits of five-legged robot . |
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| Keywords: | : Five-legged robot Gait Stability |
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