摘要
通过对自主研制的具有前关节臂履带式移动机器人爬梯机理的分析,提出了同种结构机器人实现连续攀爬楼梯的必要条件,并规划了机器人的爬梯步态,为同类型机器人的结构设计与优化提供了依据.
By analyzed of stair- climbing mechanism for articulated - tracked mobile robot, necessary conditions for robot climbing stair in a successive way were proposed, and the gait of robot climbing stair was programmed. The conclusion can provide reference for the same type robot＇s structural design and optimization.
出处
《机械与电子》
2010年第1期62-65,共4页
Machinery & Electronics
基金
北京市自然科学基金资助项目(8081001)
关键词
关节式履带移动机器人
爬梯机理
爬梯步态
articulated - tracked mobile robot
stair - climbing mechanism
stair - climbing gait
