摘要
基于仿生学原理进行了四足机动平台的腿部结构设计，分析了负载因子、周期、步距等步态设计参数对静步态稳定性的影响，提出了平地直行条件下从起步到稳定行走的步态调整方式，并对静步态行走全过程的稳定裕度进行了求解。计算结果表明：所规划的行走步态能达到静步态运动稳定性要求。
Based on bionics,a leg structure of quadruped vehicle is proposed,the influence of duty factor,cycle time and span to the stability of static gait is discussed,the adjustable starting-to-stable gait in straight line under flat plane is introduced,then the stability margin during the process is computed.The results show that the planned gait can satisfy the demand of stability margin in static gait.
出处
《装甲兵工程学院学报》
2011年第4期35-38,共4页
Journal of Academy of Armored Force Engineering
基金
军队科研计划项目
关键词
四足机动平台
静步态
稳定裕度
影响因素
quadruped vehicle
static gait
stability margin
influencing factor
