| 全方位四足步行机器人的运动学研究 |
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| 引用本文： | 马培荪,窦小红.全方位四足步行机器人的运动学研究[J].上海交通大学学报,1994,28(2):39-47. |
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| 作者姓名： | 马培荪 窦小红 |
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| 作者单位： | 美国田纳西工业大学 |
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| 基金项目： | 国家科委863计划资助 |
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| 摘 要： | 本文将全方位四足步行机器人在每一瞬时视为一个多环空间机构。利用空间多环机构的理论逐环进行位置分析，导出在两类已知条件下机体运动与四条腿运动之间的关系。在此基础上，给出它们之间的速度，加速度关系式。
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| 关 键 词： | 步行机器人 多环空间机构 运动学 |
A Kinematics Research on Omnidirectional Quadruped Walking Robot |
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| Ma Peisun,Don Xiaohong, Liu Zhen.A Kinematics Research on Omnidirectional Quadruped Walking Robot[J].Journal of Shanghai Jiaotong University,1994,28(2):39-47. |
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| Authors: | Ma Peisun Don Xiaohong Liu Zhen |
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| Institution: | Ma Peisun;Don Xiaohong; Liu Zhen |
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| Abstract: | The omnidirectional quadruped walking robot can always be considered as a multiloop spatial mechanism. Each single-loop position can be solved by using the theory of multiloop spatial mechanism.In the two kinds of known condition, the positional relations between the body and legs are presented in this paper. The velocity and acceleration equations are also presented. |
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| Keywords: | walking robot multis-loop spatial mechanisms kinematic of walking robot |
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