六足三脚架步态的稳定性研究

IEEE J. Robotics Autom. Pub Date : 1988-08-01 DOI:10.1109/56.808

Tsu-Tian Lee, C. Liao, T. K. Chen

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引用次数: 69

摘要

推导了直线运动和蟹式行走的六足三脚架步态。分别建立了直线运动和蟹式行走的稳定裕度、步幅和占空系数的数学关系式。所得结果提供了六足行走的三脚架步态，在完美地形或恒定坡度地形上具有规定的稳定裕度。>

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On the stability properties of hexapod tripod gait

Hexapod tripod gaits for straight-line motion and crab walking are derived. Mathematical relations that express the stability margin, the stride length, and the duty factor are formulated for straight-line motion and for crab walking, respectively. The derived results provide tripod gaits of the hexapond for walking with a prescribed stability margin either over perfect terrain or constant slope terrain. >

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IEEE J. Robotics Autom.

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