| 四足步行机器人稳定性分析 |
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| 引用本文： | 王树海,刘西侠,金毅,权清达.四足步行机器人稳定性分析[J].机械研究与应用,2012(5):19-21. |
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| 作者姓名： | 王树海 刘西侠 金毅 权清达 |
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| 作者单位： | 装甲兵工程学院机械工程系,北京100072 |
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| 基金项目： | 国防基础科研项目（B2320110005） |
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| 摘 要： | 基于四足步行机器人模型对机器人的瞬时质心坐标进行了计算,得出了瞬时质心的运动规律,分析了各质量模块对机器人质心坐标的影响,对比了瞬时质心位移与几何中心位移的相对关系。给出了四足步行机器人静步态稳定性判定的公式,计算了基于瞬时质心的稳定裕度,并对稳定裕度进行了对比分析。
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| 关 键 词： | 四足机器人 稳定裕度 质心偏移 |
Stability analysis of quadruped walking robot |
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| Wang Shu-hai,Liu Xi-xia,Jin Yi,Quan Qing-da.Stability analysis of quadruped walking robot[J].Mechanical Research & Application,2012(5):19-21. |
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| Authors: | Wang Shu-hai Liu Xi-xia Jin Yi Quan Qing-da |
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| Affiliation: | (Department of mechanical engineering, Academy of armored force engineering , Beijing 100072,China ) |
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| Abstract: | In this paper, the instantaneous centroid coordinates of the robot is calculated based on the quadruped robot model, and the characteristics of the instantaneous eentroid motion is given. A contrast between the displacement of instantaneous cen- troid and the displacement of geometric center is analyzed, which is caused by the influence of each mass module. The judgement formula for stability of quadruped walking robot is given, the stability margin based on instantaneous eentroid is calculated, and the stability margin is compared and analyzed. |
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| Keywords: | quadruped robot stability margin deviation of mass center |
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