步行机器人静稳定跨越直立障碍能量分析

Energy Analysis of Walking Robot While Statically and Steadily Striding over Standing Obstacle

对四足步行机器人静稳定跨越直立障碍时的运动能量进行了分析．给出了能量分析模 型、关节驱动功率推导以及跨越直立障碍的步态解析，考察了驱动能量与躯体运动姿势、步态参 数、结构配置之间的关系．

This paper analyses the motion energy of the four-foot walking robot while statically and steadily striding over standing obstacle, the model of energy, deduction of joint driving power and analysis of the gait of striding over standing obstacle, finally studies foe relation between driving energy and motion attitude of body, parameter of gait and equipment of structure.