六足步行机的稳定性监控系统

本文综合了各种地形条件下的六足步行机的静态稳定性方法,详细讨论了能量稳定法,并用这种方法分析了六足步行机的越野能力,研究了六足机转向时的步态选择及其稳定性,给出了六足机总体结构尺寸的一种CAD方法,设计了一个适于各种地形条件的六足步行机的稳定性监控系统。

A System for Monitoring Stability of Six-legged Walking Robot

This paper synthesizes methods for monitoring the static stability of six-legged walking robot on all sorts of terrain and discusses the energy stability method in detail. The author mentions the use of this method to analyse the cross-country ability of the walking vehicle, the selection and stability of gait when it makes a turn, and a CAD of overall structure sizes of the walking robot. In the last, the author discusses the design of a monitoring system of stability for six-legged walking robot on all sorts of terrain.