• CN:11-2187/TH
  • ISSN:0577-6686

›› 1994, Vol. 30 ›› Issue (2): 45-51.

• 论文 • 上一篇    下一篇

用临界状态法四足步行机的转向态

高峰;魏道付;李水良   

  1. 洛阳工学院
  • 发布日期:1994-03-01

STUDY OF STEERING GAIT OF 4-LEGGED WALKING VEHICLE BY CRITICAL STATE

Gao Feng;Wei Daofu;Li Shuiliang   

  1. Luoyang Institute of Technology
  • Published:1994-03-01

摘要: 用临界状态法研究四足步行机的转向步态,提出了研究四足步行机转向的固定临界线法和固定临界点法两种方法,介绍了四足步行机以侧行角α沿半径H的圆弧转向的步态拟定方法及其稳定性分析方法,还介绍了给定重心移动位置和转角的转向步态的拟定方法。

关键词: 步态, 步行机, 转向

Abstract: This paper studies the steering gait of a 4-legged walking vehicle, developes two methods to analyze steering of the vehicle, e. g, the method of fixed critical line and the method of fixed critical point, introduces methods to determine gait and analyze stability when the vehicle steeres under a lateral angle along a circle of radius H, also introduces a method to decide steering gait when the displacement of the center of gravety and turn angle.

Key words: Gait, Steering, Walking vehicle