四足机器人在普通地形上的运动仿真

Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI:10.1109/INES.1997.632410

M.Y. Al-Zaydi, S. Amin

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引用次数: 7

摘要

为了设计能够在一般地形上移动的四足移动机器人，必须仔细研究其在特定地形上的运动。水平地形分为水平、倾斜和垂直地形三类。提出了在这三种地形上对机器人运动进行建模和仿真的运动学算法。用三维图形模拟了行走稳定波和爬壁步态。

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Locomotion simulation of a quadruped robot on general level terrain

To design a quadruped mobile robot that has a capability to move on a general terrain, its motion on a specific terrain should be studied carefully. The level terrain is classified into three classes, horizontal, inclined and vertical terrain. Kinematics algorithms for modelling and simulating the robot locomotion on these three terrain classes are presented. The walking stable wave and the wall climbing gaits are simulated in 3-D graphics.

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Proceedings of IEEE International Conference on Intelligent Engineering Systems

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