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六边形对称分布六腿机器人的典型步态及其运动性能分析
  • 摘要

    为了便于在不同地理条件下合理地选择较优的步态,实现稳定高效的智能行走,本文针对一种六边形对称分布的六腿机器人研究其不同步态的优劣.主要从行走能力、稳定性和能耗3个角度对六边形对称结构的六腿机器人在同样占空比下的3种静态稳定岗期步态进行了比较研究,此外还简要分析了其越障能力和穿越窄道的能力.研究分析结果表明3种步态(横向昆虫式摆动步态、哺乳动物式踢腿步态和混合步态)在不同条件下各有优劣:横向昆虫式摆动步态在能耗和越障能力方面较其他两种步态有优势;而混合步态在稳定性上最具优势,其它能力处于中间;哺乳动物式踢腿步态则可穿越窄道,步长上较昆虫摆动步态略好.本文的研究工作为六边形对称结构的六腿机器人在未知复杂地貌环境下的智能行走提供了重要参考.

  • 作者

    丁希仑  王志英  Alberto ROVETTA  DING Xilun  WANG Zhiying  Alberto ROVETTA 

  • 作者单位

    北京航空航天大学,北京,100191/北京航空航天大学,北京,100191;米兰理工大学,意大利,米兰,20156/米兰理工大学,意大利,米兰,20156

  • 刊期

    2010年6期 ISTIC EI PKU

  • 关键词

    六腿机器人  六边形结构  步态分析  能耗 

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