四足步行机的地─壁过渡规划

GROUND─TO─WALL TRANSITION LOCOMOTION PLANNING FOR QUADRUPED WALKING MACHINES

针对垂直相交面内行走问题，按车体姿态调整能力规划了四足步行机的地─壁过渡步态，给出了以调整次数少及能耗小为优化目标的规划算法，并进行了计算机仿真验证。其分析方法和结果可用于指导步行机构和控制算法设计以及评价四足机的地─壁过渡能力。

This paper dealt with the locomotion on two surfaces insected perpendicularly. The transition gait is designed for a quadruped walking machine moving from ground to wall based on the regulating-capability analyses of the vehicle. The Planning algorithm is presented by minimizing the regulating times with the consideration of decreasing energy comsumption, which is validated by computer simulation.The analytical method and results obtained in the paper is of importance to the walking mechanism design, gait design and to the evolution of ground-to-wall transition capability of vehicles.