摘要
综合轮式和腿式机器人的优点 ,提出基于溜冰原理的从动轮式溜冰机器人概念 .讨论了大腿运动型和小腿运动型溜冰机器人的结构图 .以小腿运动型溜冰机器人为例 ,运用非完整约束存在时的广义 Lagrange- Routh方程推导了机器人直线溜冰时的运动微分方程 ,并讨论了机器人在各步态时的位姿 ,利用
This paper put forward the idea of ice skater robot of passive wheeled type integrating the features of wheeled mobile robots and legged mobile robots. Based on its principle, the paper discussed the constructions of thigh motion type and calf motion type of the ice skater robot respectively. After founding the coordinate system the paper got the motion differential equation of this robot using generalized Lagrange Routh equation when nonholonomic constraints exist. This paper also discussed the pose of robot when it is in every gait and simulated the system motion by EXCEL 97. Lastly, some related conclusions were drawn.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2001年第7期1027-1031,共5页
Journal of Shanghai Jiaotong University
