摘要
本文以四足步行机器人为研究对象研究了转弯步态控制的实现途径．在分析前人研究的基础上，拟定了适合于实际控制的重心沿多折线行走的转弯步态，并详细讨论了转弯步态过程及其可行性．该步态控制已在所研制的ＪＴＵＷＭ－Ⅱ型全方位四足机器人上实现．
This paper studies the realization gait control, taking a quadruped walking vehicle as the subject of the research. Based on the analysis of previous works, a kind of fuming gait with the center of gravity of the vehicle walking along multiple broken lines has been planned, which is more suitable for practical control than previous methods. The process of the turning gait and its feasibility are discussed in detail. The turning gait presented in the paper is now being implemented in the newly-developed omnidirectional quadruped walking robot JTUWM-Ⅱ.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1995年第5期87-92,共6页
Journal of Shanghai Jiaotong University
基金
国家科委"863"计划资助
