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综合了用作步行机构的缩放机构的原理及运动特性,提出了步行机对足端轨迹的要求,进行了详细的讨论,给出了适合于缩放式腿的足端轨迹规划方法,采用了两端插值中间过渡的规划手段,提高了步行机的节能性和适应性。
Based on the principle and kinematic characteristics of the zooming mechanism used as the walking mechanism, the requirements of the walking machine on the footing trajectory are proposed. The detailed discussion is given, and the foot trajectory planning method suitable for the zooming leg is given. Two Interpolation of the intermediate transition planning tools to improve the energy saving walking machine and adaptability.