摘要
本文研究了步行机腿行程对其能耗的影响,分析了步行机低速和高速行走的最佳腿行程,就具体结构形式的腿得到了其耗能和耗能率计算公式.具体计算了缩放式腿的最佳腿行程,为步行机总体结构设计和行走时的控制提供了理论依据.
After discovering that the stroke of walking robot has an effect upon it's power consumption, we ana-lysed the optimal stroke of walking machine at low speed and high speed respectively, then obtained theformulae for calculating it's energy consumption and energy consumption rate. This paper calculated andderived the optimal stroke of pantograph leg. At last we gave a theoritical basis for the design of walkingrobot's structure and control of walking machine's walking.
出处
《机器人》
EI
CSCD
北大核心
1991年第2期39-44,共6页
Robot
基金
国家自然科学基金
关键词
步行机
节能
腿行程
机器人
hexapod robot
stroke
power consumption rate
tripod gait
