| 一种轮腿结合式步行机的步态 |
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| 引用本文： | 柳洪义,闻邦椿,H.斯欧格.一种轮腿结合式步行机的步态[J].东北大学学报(自然科学版),1993(6). |
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| 作者姓名： | 柳洪义 闻邦椿 H.斯欧格 |
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| 作者单位： | 东北大学
(柳洪义，闻邦椿)，斯图加特大学(H.斯欧格) |
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| 摘 要： | 提出用周期函数G(X)和正函数H(X)表达步行机的支撑点位置。解决了在一个步态周期内轮子作多周期运动的动态支撑点位置描述问题,给出并证明了支撑点位置的计算公式,进而讨论了支撑点位置的极限问题。
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| 关 键 词： | 轮腿结合式步行机 步态 安置 转移 |
Gaits of a Combined Wheeled and Legged Vehicle |
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| Liu Hongyi,Wen Bangchun,Sorg H..Gaits of a Combined Wheeled and Legged Vehicle[J].Journal of Northeastern University(Natural Science),1993(6). |
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| Authors: | Liu Hongyi Wen Bangchun Sorg H |
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| Abstract: | A periodic function G(X) and a positive function H(X) are proposed to describe the supporting point positions so as to solve dynamically the problem of supporting point position when the wheels move multicyclically in a locomotion period. The calculating formulate of supporting point positions are thus given and proved, then the limit positions of supporting points are discussed. |
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| Keywords: | combined wheeled and legged vehicle gait placement transfer |
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