六足机器人斜坡步态的设计

摘要

The main factors affect static stability of a six - legged robot which is walking on slope terrain are analyzed. According to the result of the analysis, slope - gait is designed. The gait algorithm is realized by ADAMS and Simulink co -simulation, which results verify that the proposed method is available and reliable.%针对六足步行机器人在斜坡地形下行走的特殊情况,分析在该情况下影响机器人静态稳定性的主要因素,根据分析结果设计高稳定裕度的斜坡步态；并利用ADAMS/Simulink联合仿真技术,进行步态控制算法模拟仿真实验,结果表明了研究工作的合理性与正确性.