一种六弧腿两栖机器人的步态规划

Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI:10.1145/3191477.3191492

Wenbo Duan, Junzhan Hou, Hu Liu, Bo Hu, Weiliang Yan, Hongjian Duan

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引用次数: 1

摘要

水陆两栖机器人因其对不同环境的适应性而受到广泛的研究。三足和四足步态是水陆两栖机器人的重要步态，通常工作在光滑的表面上。本文主要对六弧腿水陆两栖机器人的三足步态和四足步态模式进行了仿真研究。利用虚拟样机软件ADAMS分析了不同支撑相位对机器人运动的影响。本文所提出的分析与仿真方法对水陆两栖机器人的设计与推广具有一定的指导意义。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Gait Planning of one Amphibious Robot with Six Arc Legs

Amphibious robots are widely studied due to its adaptation to different environments. The tripod gait and tetrapod gait are important patterns for the amphibious robot and usually works on smooth surface. This paper mainly focuses on the simulation of the tripod gait and tetrapod gait patterns of one amphibious robot with six arc legs. What's more, the effects of different support phases on the motion of the robot are analyzed by using the virtual prototype software ADAMS. The presented analysis and simulation method here will benefit the design and the promotion of the amphibious robot.

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Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering

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