摘要
四足机器人在高速动态步行过程中保持稳定性是十分重要的.建立了四足机器人对角小跑步态下绕支撑对角线的翻转力矩力学模型,分析了该力矩对机器人运动姿态及稳定步行的不利影响,得出了翻转角度与步行周期的平方及步长成正比的结论,并提出了利用起步姿态来削弱翻转力矩不利影响的方法——三分法.仿真实验证明了该方法的有效性.
It is important for quadruped walking machine to keep its stability in high speed walking. The moment around the supporting axis of quadruped trotting was modeled and its effects on the body attitude were analyzed. A conclusion was drawn that the angle of rotation around the supporting diagonal line is proportional to the multiplication of square of walking period and stride length. A new method called trichotomy about initial stance was brought forward to minimize the bad effects of the moment on body attitude. The method works very well in the simulations.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2005年第6期880-883,共4页
Journal of Shanghai Jiaotong University
