| 两栖多足机器人水下步态分析 |
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| 引用本文： | 王立权,刘德峰,陈东良,邓辉峰,季宝锋,王刚.两栖多足机器人水下步态分析[J].机器人,2008,30(4):1. |
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| 作者姓名： | 王立权 刘德峰 陈东良 邓辉峰 季宝锋 王刚 |
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| 作者单位： | 哈尔滨工程大学水下作业技术与装备实验室,黑龙江,哈尔滨,150001 |
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| 摘 要： | 通过对两栖动物运动机理的研究，针对两栖多足机器人水下行走的特点，采用减轻重力、附加流
体力的方法，提出了静水环境下的动力学模型，并基于对模型的分析提出了适用于两栖多足机器人水下运动
的“蹬踏—漂浮”步态．该步态不但解决了两栖多足机器人以陆地行走步态在水下行走时出现的抓地不牢及
稳定性不够的问题，而且提高了水下步行速度．通过分析两栖多足机器人的水下实验结果，验证了步态的可
行性．
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| 关 键 词： | 多足机器人 步态 水下行走 静水环境 |
Analysis on Underwater Gait of Amphibious Multi-legged Robot |
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| WANG Li-quan,LIU De-feng,CHEN Dong-liang,DENG Hui-feng,JI Bao-feng,WANG Gang.Analysis on Underwater Gait of Amphibious Multi-legged Robot[J].Robot,2008,30(4):1. |
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| Authors: | WANG Li-quan LIU De-feng CHEN Dong-liang DENG Hui-feng JI Bao-feng WANG Gang |
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| Affiliation: | WANG Li-quan,LIU De-feng,CHEN Dong-liang,DENG Hui-feng,JI Bao-feng,WANG Gang(Underwater Operation Technology , Equipment Laboratory,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | Based on the movement mechanism of amphibians and the characteristics of underwater walking of the amphibious multi-legged robot,a dynamic model in lenitic water is produced by reducing the weight and adding liquid forces,and through the analysis of the model,the hoof-?oating gait is proposed for underwater walking of the amphibious multi-legged robot.The gait not only resolves the problems of slippage and instability which arise when the amphibious multi-legged robot walks in underwater conditions with the... |
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| Keywords: | hand-eye vision system self-calibration disparity depth value |
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