| 基于静态平衡的四足机器人斜面步态规划 |
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| 引用本文： | 张文宇,张磊.基于静态平衡的四足机器人斜面步态规划[J].微计算机信息,2012(1):57-59. |
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| 作者姓名： | 张文宇 张磊 |
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| 作者单位： | 解放军理工大学;中国海洋大学 |
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| 基金项目： | 基金申请人:张磊;项目名称:基于神经振荡子的四足机器人步行方法研究;基金颁发部门:教育部留学回国人员科研启动基金([2008]890号) |
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| 摘 要： | 本研究从静态平衡角度出发,考虑了影响斜面步行稳定性的各种因素,提出了采用SM和SNE共同判稳的方法。基于这两个指标,针对四足机器人在斜面步行中的倾倒和绕支撑腿连线翻转的问题,规划了一种快速、稳定的全方位静步态,通过计算机仿真平台进行验证,实验表明了所研究方法的可行性和有效性。
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| 关 键 词： | 四足机器人 斜面坐标系 静态平衡 步态规划 |
Gait Planning of Quadruped Robot over a Slope Based on Static Balance |
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| ZHANG Wen-yu ZHANG Lei.Gait Planning of Quadruped Robot over a Slope Based on Static Balance[J].Control & Automation,2012(1):57-59. |
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| Authors: | ZHANG Wen-yu ZHANG Lei |
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| Affiliation: | ZHANG Wen-yu ZHANG Lei |
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| Abstract: | In this paper,on the point of static balance,by analyzing the complex causes of the unstable problem walking on a slope,the stability analysis method to combine the stability margin and SNE has been proposed.Based on these criteria,a fast and stable omni-directional static walking gait to solve the tumbling problems has been planned.The validity of the gait planning method has been verified according to the simulation experiment. |
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| Keywords: | Quadruped-Robot Slope Coordinates Static Balance Gait Planning |
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