能效型步行机模型及其步态控制问题的计算机辅助研究

本文研究了机体坐标系型腿足机构步行机的能量效率问题, 提出了具有几个能动自由度的缩放式腿足机构昆虫姿态六足步行机模型, 研究了该模型的步态控制问题.最后, 用计算机仿真技术动态显示了该模型跨越障碍及在不平坦地面上的安全步行姿态.

Computer-aided Investigation of Energy Efficient Type Legged Vehicle Model and It's Gait Control problem

In this paper, the energy efficiency problem of vehicle body coordinate system type legged mechanism is investigated. This paper describes an insect attitude six-legged vehicle model with nine degrees of freedom and pantograph leg mechanism. Investigated it''s control problem. At last, computer simulations dynamically display it''s safe walking attitude, while it avoide obstacle on irregular terrain.