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

页码：427 / 434

页数：8

共 20 条

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