单执行器六足步行车辆建模及平稳性控制

Modeling and Stability Control Research of Single Actuator of Six-legged Walking Vehicle

六足步行装置为获得较好的平稳性,需要多个执行器驱动腿机构,且腿机构需要多个自由度。针对一种只用一个执行器驱动6条腿的六足步行车辆,对步行车辆的车身平稳性进行数学建模,并设计了一种简单、实时的控制方案。该建模方法简单、易于控制,具有提前预判功能。

In order to obtain better stability, six-legged walking device needs leg mechanism with multiple actuators driving leg mechanism and legs with multiple degrees of freedom. The paper intro- duces a kind of six-legged walking car with only one actuator drive six legs. Mathematical modeling stability of the walking vehicle body is built and a simple and real time control scheme is designed. The modeling method is simple and easy to control and control has the anticipation in advance func- tion.