机械与电子Issue(10)：3-7,5.
四足机器人Trot步态简化模型控制方法
Control Method of Quadruped Robot Trot Gait Simplified Model
摘要
Abstract
Based on the SLIP model,the planar model of quadruped robot is built. Aiming at controlling the complex system,by analyzing the model and dynamic characteristics of quadruped robot, based on the thought of decomposing control targets and PID control strategy, control algorithm of three targets of the system(velocity, height, pitch) is designed separately, so this method is named three - part - control - method. Besides, the strategy of control parameter configuration is given together.关键词
四足机器人/SLIP模型/Trot步态/三分控制法Key words
quadruped robot/ SLIP model/ trot gait/three - part - control - method分类
信息技术与安全科学引用本文复制引用
李满天,郭一澎,蒋振宇,张有为..四足机器人Trot步态简化模型控制方法[J].机械与电子,2012,(10):3-7,5.基金项目
国家"八六三"计划资助项目(2011AA040701) （2011AA040701）
