ON THE STABILITY PROPERTIES OF HEXAPOD TRIPOD GAIT

被引：49
作者：
LEE, TT
LIAO, CM
CHEN, TK
机构：
[1] NATL CHIAO TUNG UNIV,INST CONTROL ENGN,HSINCHU 300,TAIWAN
[2] NATL CHIAO TUNG UNIV,INST ELECTR,HSINCHU 300,TAIWAN
来源：
IEEE JOURNAL OF ROBOTICS AND AUTOMATION | 1988年 / 4卷 / 04期
关键词：
SYSTEM STABILITY - Mathematical Models;
D O I：
10.1109/56.808
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Hexapod tripod gaits for straight-line motion and crab walking are derived. Mathematical relations that express the stability margin, the stride length, and the duty factor are formulated for straight-line motion and for crab walking, respectively. The derived results provide tripod gaits of the hexapond for walking with a prescribed stability margin either over perfect terrain or constant slope terrain.
引用
收藏
页码：427 / 434
页数：8
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