| 一种轮腿结合式步行机的圆路径步态 |
| |
| 引用本文： | 柳洪义 Sarg,H. 一种轮腿结合式步行机的圆路径步态[J]. 东北大学学报(自然科学版), 1994, 15(3): 258-262 |
| |
| 作者姓名： | 柳洪义 Sarg H |
| |
| 作者单位： | 东北大学，期图佳特大学 |
| |
| 摘 要： | 当给出步行机的几何参数，圆路径半径和容许的最小纵向稳定裕度时，研究确定腿的初始支撑位置，腿的运动相位和有载因数等步态参数的方法，圆路径步态的计算机仿真结果给出了瞬时纵向稳定裕度与时间的关系曲线。
|
| 关 键 词： | 轮腿结合式 步行机 圆路径步态 |
Circular Turning Gaits of a Combined Wheel-Leg Vehicle |
| |
| Liu Hongyi, Wen Bangchun, H. Sorg. Circular Turning Gaits of a Combined Wheel-Leg Vehicle[J]. Journal of Northeastern University(Natural Science), 1994, 15(3): 258-262 |
| |
| Authors: | Liu Hongyi Wen Bangchun H. Sorg |
| |
| Affiliation: | Liu Hongyi; Wen Bangchun; H. Sorg |
| |
| Abstract: | Circlar turning gaits of a combined wheel-leg vehicle are discussed. The method determiningthe initial support points,leg motion phases and duty factors is studied if the geometrical parameters of thevehicle,the circular radius and the allowed minimal longitudinal stability margin are given. The simulation result of circular turning gaits in computer gives the relation of the instantaneous longitudinal stability marginsto time. |
| |
| Keywords: | combined wheel-leg vehicle circular turning gait longitudinal stability margin instantaneous longitudinal stability margin. |
| 本文献已被 CNKI 维普 等数据库收录！ |
