| 偏心轮腿六足机器人四足步态规划 |
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| 引用本文： | 万婷,王宇俊,李君科,何新强.偏心轮腿六足机器人四足步态规划[J].河南教育学院学报(自然科学版),2011(4):41-44. |
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| 作者姓名： | 万婷 王宇俊 李君科 何新强 |
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| 作者单位： | 西南大学计算机与信息科学学院 |
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| 摘 要： | 提出了一种适用于偏心轮腿六足机器人的直行四足步态规划.以一个运动周期为例,分析了偏心轮腿六足机器人直行过程中5个阶段的运动状态,以及每个运动状态中偏心轮腿步态的参数变化并用状态矩阵加以描述.将该步态用于所设计的偏心轮腿六足机器人,在驱动电机的控制下,能保证机器人的直行前进.
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| 关 键 词： | 偏心轮腿六足机器人 步态规划 运动状态 状态矩阵 四足步态 |
Four-Footed Gait Planning of Eccentric-Type Legged Hexapod Robot |
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| WAN Ting,WANG Yu-jun,LI Jun-ke,HE Xin-qiang.Four-Footed Gait Planning of Eccentric-Type Legged Hexapod Robot[J].Journal of Henan Education Institute(Natural Science Edition),2011(4):41-44. |
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| Authors: | WAN Ting WANG Yu-jun LI Jun-ke HE Xin-qiang |
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| Institution: | (College of Computer and Information Science,Southwest University,Chongqing 400715,China) |
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| Abstract: | A kind of robot four-footed gait planning is presented,which is suit for eccentric-type legged hexapod robot.Taking a movement cycle for example,analyzes on the five stages of eccentric-type legged hexapod robot in the process of motion,and uses state matrix to describe the change of parameters which is about the gait of eccentric-type leg in every movement state.Under the control of motor,the four-footed gait used in eccentric-type legged hexapod robot can ensure the robot go strait forward. |
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| Keywords: | eccentric-type legged hexapod robot gait planning motion state state matrix four-footed gait |
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