摘要
本文提出了用稳定角和稳定行程作为步行机稳定性的评价格标，讨论了稳定角、稳定行程与稳定裕量、能量稳定裕量之间的关系，分析了步行机在坡道上沿任意方向行走的稳定性及其越坡能力，提出了描述步行机稳定状况的稳定区域图．
In this paper,a stable angle and a stable throw are put forward to evaluate the stability of leggedrobot.The relation:among stability margin, energy stability margin and stable angle,stable throw are dis-cussed.The slope-walking ability and stability of legged robot are analysed. The stability region figure de-scribing the stable situation of robot is also presented in the paper.
出处
《机器人》
EI
CSCD
北大核心
1994年第4期198-202,共5页
Robot
关键词
步行机
稳定性
稳定角
稳定行程
Legged robot,stability,stable angle,stable throw
