| 控制步行机足运动的一种方法工科──修正组合摆线法 |
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| 引用本文： | 柳洪义,宋伟刚,彭兆行.控制步行机足运动的一种方法工科──修正组合摆线法[J].机器人,1994(6). |
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| 作者姓名： | 柳洪义 宋伟刚 彭兆行 |
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| 作者单位： | 东北大学机械工程学院 |
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| 摘 要： | 基于接近传感器所获得的地面信息，研究腿在转移支撑点时运动的控制问题，提出用“修正组合摆线”作为足的运动轨迹，解决足对不平地面的自适应问题，从而避免了腿的急动和足与地面间的冲击，并且使不平地面的自适应步态成为简单的周期步态。
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| 关 键 词： | 步行机，步态，足轨迹，修正组合摆线 |
FOOT MOVEMENT CONTROL OF WALKING MACHINES MODIFIED BY MEANS OF COMPOSITE CYCLOID METHOD |
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| LIU Hongyi,SONG Weigang,PENG Zhaoxing.FOOT MOVEMENT CONTROL OF WALKING MACHINES MODIFIED BY MEANS OF COMPOSITE CYCLOID METHOD[J].Robot,1994(6). |
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| Authors: | LIU Hongyi SONG Weigang PENG Zhaoxing |
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| Affiliation: | Mechanical engineering Institute Northeastern University |
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| Abstract: | Based on the ground information obtained by proximity sensors,it is studied how the foot moves when the leg transfers its supporting point.Amedifled composite cycloid is proposed as the foot trajectory for solving the adaptive gaitproblem over rough terrain. Therefore,the abruptness and the impact betweenfoot and ground may be avoided,and adaptive gaits over rough terrain can be changed into simple periodicgaits,as to simplify the control strategy. |
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| Keywords: | Walking machines gait foot trajectory modified composite cycloid |
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