| 四足步行机器人步态规划与稳定性分析 |
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| 引用本文： | 林砺宗,张松,王启春,李志豪. 四足步行机器人步态规划与稳定性分析[J]. 机械与电子, 2010, 0(1): 53-57 |
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| 作者姓名： | 林砺宗 张松 王启春 李志豪 |
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| 作者单位： | 华东理工大学机械与动力工程学院,上海,200237 |
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| 摘 要： | 通过对各种步态详细的分析和讨论，得出了稳定行走的最佳步态。为了得到稳定、易于控制的机器人系统，研究和分析了四足机器人的静态稳定性，并给出了系统稳定性的判断方法。
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| 关 键 词： | 四足步行机器人 步态规划 静态稳定性 |
Gait Planning and Stability Analysis of Quadruped Walking Robot |
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| LIN Li-zong,ZHANG Song,WANG Qi-chun,LI Zhi-hao. Gait Planning and Stability Analysis of Quadruped Walking Robot[J]. Machinery & Electronics, 2010, 0(1): 53-57 |
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| Authors: | LIN Li-zong ZHANG Song WANG Qi-chun LI Zhi-hao |
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| Affiliation: | School of Mechanical and Power Engineering/a>;East China University of Science and Technology/a>;Shanghai 200237/a>;China |
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| Abstract: | Through detailed analysis and discussion to a variety of gaits,a optimal stability gait has been acquired.Based on research and analysis of the quadruped robot's static stability,in order to obtain stable and easy control systems to the robot and gave an assessment method of the system stability. |
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| Keywords: | quadruped walking robot gait planning static stability |
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