仿生地面行走机构的步态研究现状与进展

The Status and Progress of Gait Research of Bionic Running Mechanism on the Ground

步态是一种生物特征,是研究地面行走机构的基础。为此,对双足人、四足动物、六足昆虫的行走方式和躯体形态以及它们在步态、体态方面的差别进行了综合论述,进而对不同行走方式的机器人的步态策略进行了论述,并对行走机构足数与性能进行了定性评价,展望了动物步态和仿生步行机器人研究的发展前景。

Gait is regarded as a useful biological characteristics,gait analysis is served as a basis of walking robot research.In this paper,a reasonable design of gait and posture should be done so as to make a robot being of a steady walk.The gait and the posture of men,quadrupedal animals,hexapod insects and their differences were reviewed.The gait strategies of the walking robot in varied walking models were described.The total leg and performance of running mechanism were also estimated crucially.The developments of research on the animal＇s gait and walking robot were analyzed.