Research on Gait Analysis and Planning of Quadruped Search-Rescue Robot

被引：3
|
作者：
Wang, Peng [1 ]
Li, Xin [1 ]
Jiang, Wenhao [1 ]
Kang, Shaochen [1 ]
Xin, Jinglei [1 ]
机构：
[1] Harbin Univ Sci & Technol, Sch Mech & Power Engn, Harbin 150080, Peoples R China
来源：
FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE II, PTS 1-6 | 2012年 / 121-126卷
关键词：
search and rescue robot; gait characteristics; quadruped walking; simulation model;
D O I：
10.4028/www.scientific.net/AMM.121-126.1484
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The search and rescue robot has the characteristics of quadruped walking machine. According to the actual structure of the quadruped robot body, the walking pose of the robot are planned, based on the study of the animal gait. The distributions of degrees-of-freedom is analyzed to ensure stable walking. A simulation model of quadruped search and rescue robot is established in ADAMS, and the motion characteristics of the system are observed using the simulation model established. Simulation results show that the motion characteristics of the system are closed related to the length of stride.
引用
收藏
页码：1484 / 1488
页数：5
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