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用上海交通大学研制的JTUWM-Ⅱ型四足步行机器人进行了转弯步态的实验研究并获得成功。提出了转弯过程中机体转动的控制和四足位量调整的方案。按该方案,四足步行机器人能在原地转任何角度,因而可循任意给定的折线行走。分析计算了四足步行机器人一次能转过的最大角度和四足最佳初始位置。
The JTUWM-Ⅱ four-legged walking robot developed by Shanghai Jiao Tong University was used to conduct the experimental study of turning gait and was successful. Proposed turning the process of turning the body control and four-seat position adjustment program. According to the program, the quadruped walking robot can turn any angle in place and thus can follow any given polyline. The maximum angle and quadrupedal initial position of quadruped walking robots can be analyzed and calculated.