On Transit Gait Programming of Six-legged Wall-climbing Robot

被引：0
|
作者：
钱晋武
龚振邦
张启先
机构：
来源：
Advances in Manufacturing | 1997年 / 01期
关键词：
wall-climbing robot. ground-to-wall transit gait; kinematics simulation; gait programming;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections. In this paper, a new idea is put forward by which the complex transit gait is decomposed into a sequence of two relatively simpler parts - single-leg motion and body pitching motion. An algorithm based on the above concept shows its feasibility and effectiveness in the graphic kinematics simulation.
引用
收藏
页码：42 / 47
页数：6
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