| 六足步行机跟导步态研究 |
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| 引用本文： | 甘建国 朱玮. 六足步行机跟导步态研究[J]. 机器人, 1994, 16(4): 235-238,256 |
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| 作者姓名： | 甘建国 朱玮 |
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| 作者单位： | 中国科学院长春光学精密机械研究所 |
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| 摘 要： | 本文给出了工程中实用的六足步行机器人跟导步态的实现条件，用能量法分析了这种步态的运动稳定性，给出了采用这种步态的六足行机的最大运动速度求解方法，分析了这种步态的越沟能力，并在ＳＧＩ工作站上对该步态的平地行走，跨沟及斜坡行走情形进行了仿真实验。
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| 关 键 词： | 跟导步态 六足步行机 稳定性 |
FOLLOW-THE-LEADER GAIT STUDY FOR SIX-LEGGED WALKING VEHICLE |
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| GAN ianguo, ZHU Wei GAN, Dongying. FOLLOW-THE-LEADER GAIT STUDY FOR SIX-LEGGED WALKING VEHICLE[J]. Robot, 1994, 16(4): 235-238,256 |
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| Authors: | GAN ianguo ZHU Wei GAN Dongying |
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| Abstract: | This paper gives the realization conditions of the practical follow-the-leader gait for six-leggedwalking vehicle in engineering and the motion stability analysis of this gait with energy stability method.Amethod to solve the fastest velocity of the gait, and the ditch-crossing capability analysis of the gait are dis-cussed. An experiment to simulate the situations of the gait is given, such as walking on a plane, ditch-cross-ing and slope walking. |
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| Keywords: | Follow-the-leader gait. six-legged walking vehicle stability.simulation. |
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