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Alternative TitleResearch on Gait Planning of Crawl for Wheel-Propeller-Legged Amphibious Robot
唐元贵; 张艾群; 俞建成
Source Publication机器人
Indexed ByEI
EI Accession number20103013094117
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60605029);国家863 计划资助项目(2006AA04Z232).
Keyword两栖机器人 轮桨腿一体化 爬行运动 步态规划
Other AbstractThe crawling movement is one of basic motion modes of the wheel-propeller-legged amphibious robot. The crawling movement is presented as the object in this paper. The motion principle of crawl is analyzed, and the kinematic model of typical driving mechanism is set up. According to various modes of crawl, different motion strategies expressed by kinds of gait are created based on the coordinated relationship between wheel-propellers and legs. In order to test the effects of gait planning in different crawling modes, the simulation researches are carried out by using virtual prototype of the robot. The simulation results prove that the wheel-propeller-legged amphibious robot be endowed with good performance in stability of crawl, flexibility of turning and ability of obstacle negotiation following the planned gaits.
Document Type期刊论文
Corresponding Author唐元贵
Recommended Citation
GB/T 7714
唐元贵,张艾群,俞建成. 轮桨腿一体两栖机器人爬行步态规划研究[J]. 机器人,2009,31(S1):10-15.
APA 唐元贵,张艾群,&俞建成.(2009).轮桨腿一体两栖机器人爬行步态规划研究.机器人,31(S1),10-15.
MLA 唐元贵,et al."轮桨腿一体两栖机器人爬行步态规划研究".机器人 31.S1(2009):10-15.
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