| 一类轮腿结合式步行机的最优稳定裕度问题 |
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| 引用本文： | 柳洪义,闻邦椿.一类轮腿结合式步行机的最优稳定裕度问题[J].东北大学学报(自然科学版),1994,15(2):162-165. |
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| 作者姓名： | 柳洪义 闻邦椿 |
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| 摘 要： | 在讨论一类轮腿结合式步行机步态稳定裕度计算方法的基础上，指出此类步行机有唯一优化步态使其稳定裕度最大，并导出了确定此优化步态参数的公式，给出了优化计算的实例。
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| 关 键 词： | 轮腿结合式 步行机 稳定裕度 |
On the Optimal Stability Margin of a Combined Wheel-LegVehicle |
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| Liu Hongyi, Wen Bangchun.On the Optimal Stability Margin of a Combined Wheel-LegVehicle[J].Journal of Northeastern University(Natural Science),1994,15(2):162-165. |
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| Authors: | Liu Hongyi Wen Bangchun |
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| Institution: | Liu Hongyi; Wen Bangchun |
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| Abstract: | On the basis of the discussion on the calculating method of the stability margin for a combinedwheel-leg vehicle, it is found that there exists a unique optimum gait that maximizes the stability margin.The formula for the optimal gait parameters have been derived with a computing instance included. |
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| Keywords: | combined wheel-leg vehicle stability margin optimum stability margin |
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