| 四足步行机的一种新全方位步态 |
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| 引用本文： | 张兆君,孙杏初.四足步行机的一种新全方位步态[J].北京航空航天大学学报,1993(2):101-107. |
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| 作者姓名： | 张兆君 孙杏初 |
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| 作者单位： | 北京航空航天大学机电系
(张兆君)，北京航空航天大学机电系(孙杏初) |
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| 摘 要： | 对四足步行机器人的平衡与全方位步态进行了研究,提出了一种适用于工程应用的静平衡判断准则;探讨与提出了在平衡条件下,以最短路径为优化目标的一种全方位步态,推导、建立了它的数学模型,利用松驰变量法求解极值,并用北航四足步行机器人实验样机作为实例进行了验算。
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| 关 键 词： | 步态 四足步行机 机器人 |
A NEW ALL-DIRECTION GAIT OF FOUR-LEGGED WALKING MACHINE |
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| Zhang Zhaojun Sun Xingchu.A NEW ALL-DIRECTION GAIT OF FOUR-LEGGED WALKING MACHINE[J].Journal of Beijing University of Aeronautics and Astronautics,1993(2):101-107. |
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| Authors: | Zhang Zhaojun Sun Xingchu |
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| Institution: | Dept. of Mech. and Electr. Eng. |
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| Abstract: | A all-direction gait and balance of four-legged walking machine is discussed and a balance criterion which is suitable for engineering application is presented.A all-direction gait with the minimum path is presented and its computed model is established and solved using slack variable method with an example of a four-legged walking experimental machine made in BUAA. |
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| Keywords: | gait four-legged walking machine walking machine |
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