步行机相交面运动规划

针对步行机的一般结构特征，提出一种步行机在任意夹角相交面上的运动规划，对其在各种不同情况下的相应运动过程分别进行了分析。根据步行机车体姿态调整能力，以最大调整姿态角和最少相交面落足点变化为优化目标，建立了运动模型，同时确定出最佳初始状态。最后，对几种典型的相交面运动进行了仿真和实验，结果表明，步行机能够成功地实现在不同夹角相交面上的运动。应用该运动规划和优化算法，可以充分发挥步行机灵活的运动能力，大大简化其在相交面上的运动过程。

Kinematics planning of walking machine between intersecting planes

A kinematics planning is presented for walking machine with the common structure characters to move between intersecting planes with any included angle. The corresponding moving processes were considered separately in various cases. According to the posture adjusting ability of the vehicle body of walking machine, the moving model was built with the maximum posture angle and the less changing footholds on the intersecting planes as optimization objects. The optimum initial status was also determined. The simulations and experiments between some typical intersecting planes were studied. The results show that the walking machine can successfully move between intersecting planes with different included angles. The flexible moving ability of walking machine is fully utilized and the moving process between intersecting planes is greatly simplified with the kinematics planning and optimization algorithm.