摘要
进行了仿生人造牲畜疾走步态动步行的基础实验研究，所用仿生人造牲畜有１２个自由度，关节由带有轴角编码器的直流伺服电机驱动。仿生人造牲畜在疾走步态动步行时简化为倒立复摆模型，应用此模型完成了支撑足同相位的仿生人造牲畜的控制。
In this paper,a dynamical walking of an Artifical Livestock is researched about the trot gait.The Artificial Livestock has 12 degrees of freedom,its joints are drived by servomotors with the rotary encoder.The Artificial Livestock standing with diagonal two legs can be converted to an inverted pendulum model.And the Artificial Livestock can be controlled with the model by computer.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
1995年第1期19-22,共4页
Transactions of the Chinese Society for Agricultural Machinery
