| 四足机器人溜蹄步态动步行的研究 |
| |
| 引用本文： | 方亚彬 江村超. 四足机器人溜蹄步态动步行的研究[J]. 机器人, 1995, 17(1): 48-51 |
| |
| 作者姓名： | 方亚彬 江村超 |
| |
| 作者单位： | 吉林工业大学农业机械学院，日本东北大学 |
| |
| 摘 要： | 本文应用角速度补偿法实现了四足机器人溜蹄步态的动步行。该四足机器人是本研究室刚刚研制成功的，具有十二个自由度，关节采用滑块摆杆机构，由带有轴角编码器的伺服电机驱动，身体和脚上装有传感器，步行由计算机进行控制。
|
| 关 键 词： | 四足机器人 溜蹄步态 动步行 计算机控制 机器人 |
A RESEARCH ON THE DYNAMICAL WALKING OF A FOURLEGGED ROBOT ABOUT THE PACING GAIT |
| |
| Feng Yabin, Chen Bingcong. A RESEARCH ON THE DYNAMICAL WALKING OF A FOURLEGGED ROBOT ABOUT THE PACING GAIT[J]. Robot, 1995, 17(1): 48-51 |
| |
| Authors: | Feng Yabin Chen Bingcong |
| |
| Abstract: | In this paper,a dynamical walking of a four-legged robot is researched about the pacing gait, ap-plying the method of the compensating angular velocity. The four-legged robot has 12 degrees of freedom,itsjoints are slide-follower mechanisms and its power sources of joints are servomotors. The sensors are in-stalled on its body and feet.The walking of the four-legged robot can be controlled with the inverted pendu-lum model by computers. |
| |
| Keywords: | Artificial animal dynamical walking control of computer |
| 本文献已被 CNKI 维普 等数据库收录！ |
