一类轮腿结合式步行机的最优稳定裕度问题

On the Optimal Stability Margin of a Combined Wheel-LegVehicle

在讨论一类轮腿结合式步行机步态稳定裕度计算方法的基础上，指出此类步行机有唯一优化步态使其稳定裕度最大，并导出了确定此优化步态参数的公式，给出了优化计算的实例．

On the basis of the discussion on the calculating method of the stability margin for a combinedwheel-leg vehicle, it is found that there exists a unique optimum gait that maximizes the stability margin.The formula for the optimal gait parameters have been derived with a computing instance included.