有腿机器人的设计概念来源于手杖虫

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583166

H. Weidemann, F. Pfeiffer, J. Eltze

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引用次数: 17

摘要

对六足步行机的几何特性、逆动力学和正动力学以及控制设计进行了研究。他们特别关注自然界中六足昆虫的设计和控制概念，这些昆虫在任意不规则的表面上非常有效地行走和攀爬。

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A design concept for legged robots derived from the walking stick insect

The authors present a study of the geometrical aspects, the inverse and direct dynamics and the control design for a six-legged walking machine. They take special regard to the design and control concepts used by nature in six-legged insects, which walk and climb very efficiently over arbitrary irregular surfaces.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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