半步行移动机器人的稳定性研究

Stability research on semi-walking mobile robot

用半步行移动机器人步行时的动力学方程,对影响机器人步行时的稳定性因素进行分析,为机器人的机械结构设计和驱动系统设计提供了依据。

Utilizing the dynamics equation while the semiwalking mobile robot is at walking to carrying out the analysis of stability factor that affects the walking of robot, thus provided basis for the mechanical structural design of robot and design of driving system.