【摘要】 在分析六足昆虫运动原理的基础上,提出了一种适合六足仿生机器人越障爬坡的一种步态。针对该机器人需要爬坡的要求对步态进行设计,并且从理论上对提出的"多边形步态"进行了可行性分析。在仿真软件中建立了六足机器人虚拟样机,动态模拟了采用该步态的六足仿生机器人的越障运动。指出利用该种越障步态原理设计思路所确定的机器人具有很好的稳定性以及特殊地形适应能力。更多还原

【Abstract】 Based on the principle of bionics and analysis of the movement mechanism of hexapod,a new type of the obstacle-crossing gait "Polygon Gait" is developed,The movement gait and the movement stability of the robot are analyzed in this paper,the gait is also applied in virtual hexapod robot through simulation,simulates the obstacle-crossing movement which adopt this kind of the gait and the results of the experimental show the robot has good stability and various terrain adaptation.更多还原