摘要
提出了一种适用于偏心轮腿六足机器人的直行四足步态规划.以一个运动周期为例,分析了偏心轮腿六足机器人直行过程中5个阶段的运动状态,以及每个运动状态中偏心轮腿步态的参数变化并用状态矩阵加以描述.将该步态用于所设计的偏心轮腿六足机器人,在驱动电机的控制下,能保证机器人的直行前进.
A kind of robot four-footed gait planning is presented, which is suit for eccentric-type legged hexapod robot. Taking a movement cycle for example, analyzes on the five stages of eccentric-type legged hexapod robot in the process of motion, and uses state matrix to describe the change of parameters which is about the gait of eccentrictype leg in every movement state. Under the control of motor, the four-footed gait used in eccentric-type legged hexapod robot can ensure the robot go strait forward.
出处
《河南教育学院学报（自然科学版）》
2011年第4期41-44,共4页
Journal of Henan Institute of Education(Natural Science Edition)
关键词
偏心轮腿六足机器人
步态规划
运动状态
状态矩阵
四足步态
eccentric-type legged hexapod robot
gait planning
motion state
state matrix
four-footed gait
