In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition ...In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition for the quadruped walking machine is proposed. With analyzing the accustomed gaits of quadruped, some standard gaits and the relationships between duty factor and the phasic differences of the legs corresponding to the first leg could be concluded. With this, the gaits transferring could be continuous. Besides, celerity and on line method for generation and modifying gaits is studied, which can make the robot have a smooth motion to adapt the uncharted rough terrain.展开更多
Duck Law NO.1 If it walks like a duck,talks like a duck,looks like a duck and quacks[呷呷叫]like a duck.it’s a duck.Restatement[重述]:All things are known by their attributes[特性].如果它走路像鸭子,说话像鸭子,样子像...Duck Law NO.1 If it walks like a duck,talks like a duck,looks like a duck and quacks[呷呷叫]like a duck.it’s a duck.Restatement[重述]:All things are known by their attributes[特性].如果它走路像鸭子,说话像鸭子,样子像鸭子,叫声也像鸭子,那它就是一只鸭子。潜台词:事物的分类由自身的特性所决定。展开更多
基金Supported by the china postdoctoral Science Foundation （No. 20080430362）.
文摘In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition for the quadruped walking machine is proposed. With analyzing the accustomed gaits of quadruped, some standard gaits and the relationships between duty factor and the phasic differences of the legs corresponding to the first leg could be concluded. With this, the gaits transferring could be continuous. Besides, celerity and on line method for generation and modifying gaits is studied, which can make the robot have a smooth motion to adapt the uncharted rough terrain.
文摘Duck Law NO.1 If it walks like a duck,talks like a duck,looks like a duck and quacks[呷呷叫]like a duck.it’s a duck.Restatement[重述]:All things are known by their attributes[特性].如果它走路像鸭子,说话像鸭子,样子像鸭子,叫声也像鸭子,那它就是一只鸭子。潜台词:事物的分类由自身的特性所决定。
