论文部分内容阅读
针对４足步行机器人的横杆攀登过程，在考虑弹性变形的基础上利用刚度矩阵建立其受力模型，并通过计算机仿真对攀登过程的不同情况进行了分析，其结果为具有攀登功能的步行机结构设计及控制算法确定提供了理论依据。
Aiming at the crossbar climbing process of 4-legged walking robot, the stiffness matrix is used to establish its force model based on the elastic deformation, and the different situations of the climbing process are analyzed by computer simulation. The result is a walking machine with climbing function Structural design and control algorithm to provide a theoretical basis.