六足步行机器人及其步态规划研究进展  

Survey on Hexapod Walking Robot and Gait Planning

作　　者：刘庆运[1] 景甜甜 

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243002

出　　处：《重庆理工大学学报（自然科学）》2015年第7期87-94,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：安徽高校省级自然科学研究重点项目(KJ2014A028)

摘　　要：六足步行机器人是典型的多足步行机器人,因其具有离散的足端落地点、冗余的腿部自由度和悬空的机体,使其运动性能大大优于轮式和履带式移动机器人。介绍了六足步行机器人的国内外发展现状,分析了现有六足步行机器人存在的优缺点,对六足步行机器人常见的步态进行了分析,归纳了非结构环境下落地点的选取和避障步态的规划策略,指出了六足步行机器人进一步研究的方向。For the discrete landing points, the redundant DOF of legs and the impending body, the performance of hexapod walking robot is better than wheeled robot and tracked robot. The prototypes of hexapod walking robot and its up-to-date development were introduced. The common gaits of the hexapod walking robot were discussed and the selection of landing points in the unstructured environment was summarized. The developing trends and some further research contents in this domain were indicated.

关 键 词：六足步行机器人 三角步态 避障 步态规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]