| 一种间歇式行走方式 |
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| 引用本文： | 于孝洋,张海军,权晨. 一种间歇式行走方式[J]. 机械制造与自动化, 2010, 39(2): 149-150,153 |
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| 作者姓名： | 于孝洋 张海军 权晨 |
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| 作者单位： | 南京农业大学,工学院机械工程系,南京,210031 |
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| 摘 要： | 提出一种间歇性的行走方式,可用于对行走连续性要求不高的机器人,其特点是控制顺序简单,稳定性高.在机身质量不大的情况下,用较高的迈步频率运动,可近似的较连续的运动.同时只要单足的步距增大,就可以提高前进的平均速度.以四足机器人为例,展开说明,并讨论运动过程中的稳定性和控制问题.
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| 关 键 词： | 四足机器人 间歇性 稳定性 |
A Kind of Intermittent Walking Mode |
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| YU Xiao-yang,ZHANG Hai-jun,QUAN Chen. A Kind of Intermittent Walking Mode[J]. Machine Building & Automation, 2010, 39(2): 149-150,153 |
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| Authors: | YU Xiao-yang ZHANG Hai-jun QUAN Chen |
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| Affiliation: | YU Xiao-yang,ZHANG Hai-jun,QUAN Chen(Mechanical Engineering Faculty of Engineering College,Nanjing Agricultural University,Nanjing 210031,China) |
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| Abstract: | This text puts forward a kind of intermittent walking mode,which can be used for the robot which can continue to work and needs not high requirement.Its characteristics is proper,simple control and high stability.If it is used for higher stepping frequency sport under the light body circumstance,it can walk continuously and the step distance of one foot and the average advanced speed can increase.This text takes a four-legged robot for example to discuss the stability and control in the movement process. |
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| Keywords: | four-legged robot fits and starts stability |
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