| 四足步行机运动机构及步态参数对行走稳定性影响分析 |
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| 引用本文： | 孙杏初,张之伟.四足步行机运动机构及步态参数对行走稳定性影响分析[J].北京航空航天大学学报,1993(3):18-25. |
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| 作者姓名： | 孙杏初 张之伟 |
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| 作者单位： | 北京航空航天大学机电工程系
(孙杏初)，北京航空航天大学机电工程系(张之伟) |
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| 摘 要： | 本文研究了四足步行机的行走稳定性问题,建立了考虑运动机构包括腿机构及其传动系统影响的稳定性模型;分析了各步态参数对稳定性的影响,并以研制的四足步行样机为例进行了计算机仿真。
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| 关 键 词： | 步行机 步态 稳定性 机器人 |
THE EFFECT OF FOUR-LEGGED WALKING'S KINETIC MECHANISM AND GAIT PARAMETERS ON WALKING STABILITY |
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| Sun Xingchu Zhang Zhiwei.THE EFFECT OF FOUR-LEGGED WALKING''''S KINETIC MECHANISM AND GAIT PARAMETERS ON WALKING STABILITY[J].Journal of Beijing University of Aeronautics and Astronautics,1993(3):18-25. |
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| Authors: | Sun Xingchu Zhang Zhiwei |
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| Institution: | Dept. of Mech. and Electr. Eng. |
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| Abstract: | In this paper we study the stability of four-legged walking machine and build the calculating mode considering the effects of kinetic mechanism and its transmission system on stability. Also,we analyze the effects of gait parameters on stability and take the designed four-legged walking machine as exemple,realize the computed simulation. |
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| Keywords: | walking machine gait stability |
| 本文献已被 CNKI 维普 等数据库收录！ |
