【摘要】 静态步行控制算法是利用稳定裕量(S-Margin)判别法,对采用缩放式腿部结构的四足机器人进行步行控制,保证了全过程的稳定性,并通过腿部姿态的改变自动补偿凹凸地面的影响。最后,通过实验证明了上述算法及所研究的软件的可靠性和实用性。更多还原

【Abstract】 Control algorithm for static walking of a quadruped robot is studiedin this paper. The quadruped robot uses pantograph mechanism for its legs.Stability margin method is used to ensure stability of the quadruped robot inwalking. The quadruped robot has adaptability to the floor with protrusionsand depressions. The reliability and availability of the algorithm have beenproved by experiment.更多还原