论文部分内容阅读
基于接近传感器所获得的地面信息，研究腿在转移支撑点时运动的控制问题，提出用“修正组合摆线”作为足的运动轨迹，解决足对不平地面的自适应问题，从而避免了腿的急动和足与地面间的冲击，并且使不平地面的自适应步态成为简单的周期步态。
Based on the ground information obtained by the proximity sensor, the control of the movement of the leg during the transfer of the support point is studied. A modified combination cycloid is proposed as the motion trajectory of the foot to solve the adaptive problem of the foot to the uneven ground, Jerk and the impact between the foot and the ground, and make the adaptive ground gait become a simple periodic gait.