摘要
探讨了四足机器人在1个步态周期内四条腿的时间分布问题,通过对慢爬行步态、对角小跑步态、同侧小跑步态3种规则步态进行时间顺序分析,建立了合理的步态时间顺序分析方法,并绘制了这3种规则步态的时间顺序分布图。
This paper discusses time order dis- tribution of four - legged in a gait cycle for quadru- ped robot. Through the time order analysis of three rules of gait for slow crawl gait, diagonal trotting gait, ipsilateral trotting gait, establish reasonable method of the time order analysis of gait and draw distribution maps of the time order for three rules of gait.
出处
《机械与电子》
2013年第10期64-67,共4页
Machinery & Electronics
关键词
时间顺序
步态周期
占地系数
四足支撑时间
time order
gait cycle
area coeffi-cient
four - legged support time
