摘要
分析了六轮机器人的四种常见地形:台阶、凸台、壕沟、楼梯的几何参数与机器人自身参数的关系,得出了这些地形能够成为机器人的包容地形的限定条件。在机器人的行为决策中,为其选择越障还是避障提供了依据。
This paper analyses the relationship between the six-wheeled remote robots parameters and that of its normal terrains;sidestep,bulge,entrenchment,stairs.Then draws in what condition these terrains could be subsumed by the robot.By this principle the robot could choose the right act between avoiding terrain action and passing terrain action when it walked in these terrains.
出处
《机械设计与研究》
CSCD
2004年第5期17-19,共3页
Machine Design And Research
基金
国家"863"计划资助项目(2003AA921020)
