Investigation of the Gait in All Position and Direction for Quadruped Walking Robot

Sun Hanxu; Zhang Qixian; Gan Dongying

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Investigation of the Gait in All Position and Direction for Quadruped Walking Robot

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- Investigation of the Gait in All Position and Direction for Quadruped Walking Robot
- Optics and Precision Engineering Vol. 0, Issue 1, Pages: 45-51(1989)
- 作者机构：
  
  北京航空航天大学机原教研室
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published Online：15 February 1989，
  
  Published：15 February 1989
- 稿件说明：
移动端阅览
李集田. 静电偏转系统解析公式[J]. 光学精密工程, 1989,(1): 31-38

Li Jitian . Analytic Formulae of Electrostatic Deflection System[J]. Editorial Office of Optics and Precision Engineering, 1989,(1): 31-38
李集田. 静电偏转系统解析公式[J]. 光学精密工程, 1989,(1): 31-38 DOI：

Li Jitian . Analytic Formulae of Electrostatic Deflection System[J]. Editorial Office of Optics and Precision Engineering, 1989,(1): 31-38 DOI：

摘要

本文对缩放式四足步行机器人(简称步行机)的全方位行走问题进行了探讨。给出了一种拟定全方位行走的方法

同时

给出了用该方法拟定出步态的可行性条件和垂直方向稳定性条件。举例摸拟了步行机按拟定出的全方位步态的行走。

Abstract

This paper investigates the problem of walking of quadruped walking robot in all position and direction. A designing method of a stable and realizable gait of walking robot in all position and direction has been given. The boundary of realizable stride length λ=√

and angle a between the motion direction and y-axis of frame coordinates system has been calculated by computer.

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