| 面向球型障碍物的六足机器人越障步态研究 |
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| 引用本文： | 周永亮,沈伟平,高建华.面向球型障碍物的六足机器人越障步态研究[J].浙江丝绸工学院学报,2012(4):580-583. |
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| 作者姓名： | 周永亮 沈伟平 高建华 |
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| 作者单位： | 浙江理工大学机械与自动控制学院,杭州310018 |
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| 摘 要： | 以多自由度六足机器人为研究对象，针对球型障碍物的模型特点，研究其爬越球型障碍物时的行走步态，以找到一种适合的越障步态并分析越障时的稳定性。在仿真软件中建立虚拟样机模型，动态模拟对球型障碍物的越障运动。模拟结果表明：在该行走步态下控制的六足机器人能平稳地爬越球型障碍物。
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| 关 键 词： | 六足机器人 球型障碍物 越障步态 仿真 |
Study on Gait of Obstacle-Crossing of Hexapod Robot to Spherical Barriers |
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| Authors: | ZHOU Yong-liang SHEN Wei-ping GAO Jian-hua |
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| Affiliation: | (School of Machinery ＆ Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China) |
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| Abstract: | For the model characteristics of multi-DOF hexapod robot, a is found by studying its walking gait of climbing over spherical barriers, and analysis of the stability during the walking process. In the simulation software, a virtual prototype model is built to imitate the obstacle- navigation movement over spherical barriers. The results show that the hexapod robot can climb over spherical obstacles stably under the control of this walking gait. |
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| Keywords: | hexapod spherical-barriers obstacle-crossing gait simulation |
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