摘要
从步态和步态时序两方面对四足和八足仿生机器人能够采用的基本步态进行了研究,根据步行足的有荷系数分别对四足和八足步态进行了分类,并比较不同步态下的速度及稳定性,为步行机器人的合理驱动和控制提供了理论依据。
In this article the basic gaits of quadruped and octopod bionic robot have heen researched from gait and the gait time sequence. The quadruped and octopod gait are classified according to the duty factor of the walking leg. And the velocity and stability of different gaits are compared. These provide the theory basis for walking robot reasonable drive and control.
出处
《装备制造技术》
2007年第8期6-8,共3页
Equipment Manufacturing Technology
关键词
步态
时序
有荷系数
Gait
Time sequence
Duty factor
