机械与电子Issue(9)：77-80,4.
六足机器人爬楼梯步态规划
Gait Planning of a Hexapod Robot in Stair Climbing
孔子文 1张世武 1许旻1
作者信息
- 1. 中国科学技术大学精密机械与精密仪器系，安徽 合肥 230027
- 折叠
摘要
Abstract
As one of the most complex obstacle in the common working environments,stair pres-ents a serious challenge to robots’propulsion abili-ty in unstructured environment.This paper inves-tigates recent research status of stair climbing ro-bot,presents tetrapod gait of a hexapod robot Am-phihex,describes the stability coefficient calcula-tion of the tetrapod gait,applies the gait planning to different stair climbing,and verify the gait plan-ning method in experiments,which offers guidance on system design and decision making.关键词
六足机器人/步态规划/稳定裕度Key words
hexapod robot/gait planning/sta-bility coefficient分类
信息技术与安全科学引用本文复制引用
孔子文,张世武,许旻..六足机器人爬楼梯步态规划[J].机械与电子,2014,(9):77-80,4.
