|本期目录/Table of Contents|

[1]周永亮,沈伟平,高建华. 面向球型障碍物的六足机器人越障步态研究[J].浙江理工大学学报,2012,29(04):580-583.
　ZHOU Yong liang,SHEN Wei ping,GAO Jian hua. Study on Gait of ObstacleCrossing of Hexapod Robot to Spherical Barriers[J].Journal of Zhejiang Sci-Tech University,2012,29(04):580-583.
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 面向球型障碍物的六足机器人越障步态研究()
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浙江理工大学学报[ISSN:1673-3851/CN:33-1338/TS]

卷:
第29卷
期数:
2012年04期
页码:
580-583
栏目:
出版日期:
2012-08-28

文章信息/Info

Title:
 Study on Gait of ObstacleCrossing of Hexapod Robot to Spherical Barriers
文章编号:
16733851 (2012) 04058004
作者:
 周永亮;  沈伟平;  高建华
 浙江理工大学机械与自动控制学院, 杭州 310018
Author(s):
 ZHOU Yongliang;  SHEN Weiping;  GAO Jianhua
 School of Machinery & Automation, Zhejiang SciTech University, Hangzhou 310018, China
关键词:
 ; 六足机器人;  球型障碍物;  越障步态;  仿真
分类号:
TP242
文献标志码:
A
摘要:
    以多自由度六足机器人为研究对象，针对球型障碍物的模型特点，研究其爬越球型障碍物时的行走步态，以找到一种适合的越障步态并分析越障时的稳定性。在仿真软件中建立虚拟样机模型，动态模拟对球型障碍物的越障运动。模拟结果表明：在该行走步态下控制的六足机器人能平稳地爬越球型障碍物。

参考文献/References:

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［6］叶献伟, 陈樊, 高建华. 六足仿生机器人越障步态方法研究［J］. 浙江理工大学学报, 2008, 25 (5): 611614.
［7］ 王新杰. 多足步行机器人运动及力规划研究［J］. 华中科技大学学报, 2005, 16(5): 211215.
［8］ Mcghee R B. Some finite state aspects of legged locomotion［J］. Mathematical Biosciences, 1968, 2(1): 6784.
［9］ Chen Xuedong. A new method on judgment of static stability for the quadruped robot［J］. IEEE International Conference on Systems, Man and Cybernetics, 1999, 19: 953964.
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备注/Memo

备注/Memo:
 收稿日期： 2011-11-08
作者简介： 周永亮(1985-)，男，安徽巢湖人，硕士研究生，主要从事机器人技术研究。
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