【摘要】 针对４足步行机器人的横杆攀登过程，在考虑弹性变形的基础上利用刚度矩阵建立其受力模型，并通过计算机仿真对攀登过程的不同情况进行了分析，其结果为具有攀登功能的步行机结构设计及控制算法确定提供了理论依据。更多还原

【Abstract】 This paper presents a foot force model of the quadruped walking vehicle during its truss-climbing process based on the stiffness matrix method.The different climbing states arc analysed by computer simulation.The results provide a theoretical base for the design of mechanical structure,climbing gait and control algorithm.更多还原