摘要
提出一种间歇性的行走方式,可用于对行走连续性要求不高的机器人,其特点是控制顺序简单,稳定性高。在机身质量不大的情况下,用较高的迈步频率运动,可近似的较连续的运动。同时只要单足的步距增大,就可以提高前进的平均速度。以四足机器人为例,展开说明,并讨论运动过程中的稳定性和控制问题。
This text puts forward a kind of intermittent walking mode,which can be used for the robot which can continue to work and needs not high requirement.Its characteristics is proper,simple control and high stability.If it is used for higher stepping frequency sport under the light body circumstance,it can walk continuously and the step distance of one foot and the average advanced speed can increase.This text takes a four-legged robot for example to discuss the stability and control in the movement process.
出处
《机械制造与自动化》
2010年第2期149-150,153,共3页
Machine Building & Automation
关键词
四足机器人
间歇性
稳定性
four-legged robot
fits and starts
stability
