摘要
静态步行控制算法是利用稳定裕量(S-Margin)判别法,对采用缩放式腿部结构的四足机器人进行步行控制,保证了全过程的稳定性,并通过腿部姿态的改变自动补偿凹凸地面的影响。最后,通过实验证明了上述算法及所研究的软件的可靠性和实用性。
Control algorithm for static walking of a quadruped robot is studied
in this paper. The quadruped robot uses pantograph mechanism for its legs.
Stability margin method is used to ensure stability of the quadruped robot in
walking. The quadruped robot has adaptability to the floor with protrusions
and depressions. The reliability and availability of the algorithm have been
proved by experiment.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1991年第6期37-44,共8页
Journal of Shanghai Jiaotong University
关键词
机器人
步行机器人
控制算法
quadruped walking robot
control algorithm
stability
static walking
