摘要
本文分析了步行机器人中现有的两类稳定裕度的度量方法.给出了一种既考虑步行机构及支撑地形特点,又考虑步行速度因素影响的动态度量方法——机械能稳定裕度度量.
A brief discussion and comparison on the existing methods of measuring the stability margin on legged loco-motion is given in this paper.Based on these methods,an improved and dynamic measuring criterion,i.e.the mechanical energy stability margin,is presented.The new criterion of measuring takes into account boththe characteristics of supporting ground and the dynamic effects of walking velocity on legged robot.The newmeasuring is of great importance to the researches on dynamic walking.
出处
《机器人》
EI
CSCD
北大核心
1992年第6期45-48,58,共5页
Robot
关键词
步行机器人
稳定裕度
legged robot
stability margin
dynamic walking
