仿生人造牲畜疾走步态动步行的基础研究  

A BASIC RESEARCH ON DYNAMICAL WALKING OF AN ARTIFICIAL LIVESTOCK ABOUT THE TROT GAIT

作　　者：方亚彬 陈秉聪[1] 江村超[1] 荒川章 

机构地区：[1]吉林工业大学农机学院,日本东北大学

出　　处：《农业机械学报》1995年第1期19-22,共4页Transactions of the Chinese Society for Agricultural Machinery

摘　　要：进行了仿生人造牲畜疾走步态动步行的基础实验研究，所用仿生人造牲畜有１２个自由度，关节由带有轴角编码器的直流伺服电机驱动。仿生人造牲畜在疾走步态动步行时简化为倒立复摆模型，应用此模型完成了支撑足同相位的仿生人造牲畜的控制。In this paper,a dynamical walking of an Artifical Livestock is researched about the trot gait.The Artificial Livestock has 12 degrees of freedom,its joints are drived by servomotors with the rotary encoder.The Artificial Livestock standing with diagonal two legs can be converted to an inverted pendulum model.And the Artificial Livestock can be controlled with the model by computer.

关 键 词：仿生 人造牲畜 动步行 疾走步态 计算机控制 

分 类 号：TB17[生物学—生物工程]