摘要
对四足步行机器人的平衡与全方位步态进行了研究,提出了一种适用于工程应用的静平衡判断准则;探讨与提出了在平衡条件下,以最短路径为优化目标的一种全方位步态,推导、建立了它的数学模型,利用松驰变量法求解极值,并用北航四足步行机器人实验样机作为实例进行了验算。
A all-direction gait and balance of four-legged walking machine is discussed and a balance criterion which is suitable for engineering application is presented.A all-direction gait with the minimum path is presented and its computed model is established and solved using slack variable method with an example of a four-legged walking experimental machine made in BUAA.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
1993年第2期101-107,共7页
Journal of Beijing University of Aeronautics and Astronautics
关键词
步态
四足步行机
机器人
gait,four-legged walking machine,walking machine.
