摘要
采用了仿哺乳类的腿部结构,并针对这种腿部结构设计了六足的行走方式,通过对12个步进电机的控制,采用三角步态,实现了六足机器人的直行功能。仿真及试验证明,这种结构能较好地维持六足机器人自身的平衡,并且对今后更深入地研究六足机器人抬腿行走姿态及可行性,具有较高的参考价值。
A bionic leg structure which is similar to the legs of mammals was used, and a hexapod walking mode was designed according to this structure. By controlling 12 step motors straight walking function of the hexapod robot has been implemented with tripod gait movement. Simulation and experiment show that this structure can keep the hexapod robot body＇s balance better, providing high reference value to research the advantage and feasibility of leg-raising walking gesture.
出处
《机电工程》
CAS
2007年第6期23-25,36,共4页
Journal of Mechanical & Electrical Engineering
关键词
六足机器人
步行
腿机构
电机控制
hexapod robot
walking
leg structure
driver
motor control
