步行轮机构及运动控制方案

The Mechanisms and Motion Controlof the Terrain-Adaptive Walking Wheel

本文提出了两种智能步行轮的腿机构，对机构的运动特性进行研究，详细讨论了在各种道路条件下实现智能步行轮预定运动规迹的控制方式和控制规律．以及机构设计参数对控制规律的影响．

Two mechanisms used for terrain-adaptive walking wheels are proposed in the paper.Thekinetic charactristics of the wheel mechanisms are studied.The control scheme and the control law ofthe wheel moving in the planned route and the influence of design parameters on the control law arediscussed extensively.