地形适应四足步行机的设计

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791053

Debao Zhou, K. H. Low, T. Zielińska

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引用次数: 2

摘要

能够在各种地形上行走的有腿机器人的设计是行走机械发展中的一个课题。所提出的机器人的身体形状为矩形，并提出了一个简单的两杆机构作为腿的组成部分。每条腿有3个自由度。从机械结构出发，给出了正运动学和逆运动学的动力学描述。然后根据运动学分析得到行走序列。阐述了机器人的设计，给出了机器人的样机。这种机器人结构简单，功能齐全，可以作为一种简单廉价的设备，用于未知领域的探索，运输，运输等。

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Design of a quadruped walking machine for terrain adaptation

The design of a legged robot that can walk in various kinds of terrain is a subject in the development of walking machines. The body shape of the proposed robot is rectangular and a simple 2-bar mechanism is proposed as the component of the legs. There are 3 degrees of freedom in each leg. Based on the mechanical structure, the kinetic description including the direct and inverse kinematics is given. The walking sequence can then be achieved according to the kinematic analysis. Design of the robot is explained and the prototype of the robot is presented. Such a robot with its simple structure and full functions can be used as a simple and cheap device for exploration of unknown areas, for transportation, carriage, etc.

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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