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| 六足爬壁机器人过渡行走运动规划 | |
| 引用本文： | 钱晋武 张启先. 六足爬壁机器人过渡行走运动规划[J]. 上海大学学报(自然科学版), 1996, 2(3): 328-334 |
| 作者姓名： | 钱晋武 张启先 |
| 作者单位： | 上海大学，北京航空航天大学 |
| 摘 要： | 过渡步态规划是实现多足爬壁机器人从地面向壁面自动行走的关键问题之一，对于在其它相交面间的自动行走也不可缺少．这里，探讨了一种将复杂的过渡行走运动用两个较易实现的简单部分—“单足跨步运动”和“机身俯仰运动”来组合完成的方法．并通过计算机图形仿真验证了上述方法的可行性和有效性． |
| 关 键 词： | 爬壁机器人，地壁过渡行走，运动仿真，步态规划 |
On Transit Gait Programming of Six-legged Wall-climbing Robot |
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| Qian Jinwu, Gong Zhenbang. On Transit Gait Programming of Six-legged Wall-climbing Robot[J]. Journal of Shanghai University(Natural Science), 1996, 2(3): 328-334 | |
| Authors: | Qian Jinwu Gong Zhenbang |
| Affiliation: | Qian Jinwu; Gong Zhenbang(Shanghai University)Zhang Qixian(Beijing University of Aeronautics and Astronautics) |
| Abstract: | Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections.In this paper, a new idea is put forward deviding the complex transit gait into a sequence of two relatively simple parts-single-leg movement and body pitching movement. An algorithm based on the above concept shows its feasibility and effectiveness in the graphic simulation process. |
| Keywords: | wall-climbing robot ground-to-wall transit gait kinematic simulation gait programming |
| 本文献已被 CNKI 维普 等数据库收录！ | |