全方位双三足步行机器人（Ⅲ）──步行模式规划

Omnidirectional dual-tripod walking machine(Ⅱ)──walking mode planning

根据全方位双三足步行机器人ＤＴＷＭ的步行移动原理，建立ＤＴＷＭ车体变形运动模型，提出两种步行模式的规划方法──规划Ⅰ、规划Ⅱ。重点分析规划Ⅱ，它将连续步行过程分为：步距增大阶段、恒定步行阶段和目标逼近阶段，在综合考虑ＤＴＷＭ初态，步行指令，步行精度要求的基础上，以减少支撑更换次数为目标进行规划，并给出详细的规划原则和步骤。

In accordance with the locomotion principle of omnidirectional walking machine DTWM,the deformation motion of vehicle body is modelled. Two kinds of walking mode planning approaches,i. e. Mode(Ⅰ) and Mode(Ⅱ) are presented and the emphasis is put on the analyses of Mode (Ⅱ) which divides the total process of long-distancewalking into three phases:stride increasing phase, permanent stride phase and destination approaching phase. The goal function of Mode(Ⅱ) is to minimize the times of support exchange under the consideration of DTWM's initial state,walking instruction and walking accuracy. The principle and procedure of the mentioned walking mode planning approaches are presented in detail in the paper.