四足机器人溜蹄步态动步行的研究  

A RESEARCH ON THE DYNAMICAL WALKING OF A FOURLEGGED ROBOT ABOUT THE PACING GAIT

作　　者：方亚彬 陈秉聪[1] 江村超[1] 荒川章 

机构地区：[1]吉林工业大学农业机械学院,日本东北大学

出　　处：《机器人》1995年第1期48-51,共4页Robot

摘　　要：本文应用角速度补偿法实现了四足机器人溜蹄步态的动步行．该四足机器人是本研究室刚刚研制成功的，具有十二个自由度，关节采用滑块摆杆机构，由带有轴角编码器的伺服电机驱动，身体和脚上装有传感器，步行由计算机进行控制．In this paper,a dynamical walking of a four-legged robot is researched about the pacing gait, ap-plying the method of the compensating angular velocity. The four-legged robot has 12 degrees of freedom,itsjoints are slide-follower mechanisms and its power sources of joints are servomotors. The sensors are in-stalled on its body and feet.The walking of the four-legged robot can be controlled with the inverted pendu-lum model by computers.

关 键 词：四足机器人 溜蹄步态 动步行 计算机控制 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]