| 四足机动平台的静步态规划研究 |
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| 引用本文： | 刘西侠,吴振华,金毅,刘维平.四足机动平台的静步态规划研究[J].装甲兵工程学院学报,2011,25(4):35-38. |
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| 作者姓名： | 刘西侠 吴振华 金毅 刘维平 |
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| 作者单位： | 装甲兵工程学院机械工程系,北京,100072 |
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| 摘 要： | 基于仿生学原理进行了四足机动平台的腿部结构设计，分析了负载因子、周期、步距等步态设计参数对静步态稳定性的影响，提出了平地直行条件下从起步到稳定行走的步态调整方式，并对静步态行走全过程的稳定裕度进行了求解。计算结果表明：所规划的行走步态能达到静步态运动稳定性要求。
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| 关 键 词： | 四足机动平台 静步态 稳定裕度 影响因素 |
Study on Static Gait Planning of the Quadruped Vehicle |
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| LIU Xi-xia,WU Zhen-hua,JIN Yi,LIU Wei-ping.Study on Static Gait Planning of the Quadruped Vehicle[J].Journal of Armored Force Engineering Institute,2011,25(4):35-38. |
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| Authors: | LIU Xi-xia WU Zhen-hua JIN Yi LIU Wei-ping |
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| Institution: | LIU Xi-xia,WU Zhen-hua,JIN Yi,LIU Wei-ping(Department of Mechanical Engineering,Academy of Armored Force Engineering,Beijing,100072,China) |
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| Abstract: | Based on bionics,a leg structure of quadruped vehicle is proposed,the influence of duty factor,cycle time and span to the stability of static gait is discussed,the adjustable starting-to-stable gait in straight line under flat plane is introduced,then the stability margin during the process is computed.The results show that the planned gait can satisfy the demand of stability margin in static gait. |
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| Keywords: | quadruped vehicle static gait stability margin influencing factor |
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