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nei xie gui shi bu xing ji gou
Author(s): 
Pages: 59-58
Year: Issue:  3
Journal: Robot

Keyword:  步行机构重心高液压锁轨式垂直油缸内斜逆止阀向上倾斜物资管理向下倾斜;
Abstract: 该机构的运动规则是:“前跨着地时随路面起伏而改变腿长.后蹬过程中又恢复重心高”.据此而设想了具体方案:单向液压锁控制了垂直方向运动以适应路面,内斜轨则在一步终了时使机身重心高度得以恢复.恢复程度与行走速度相关.它也需要对随机不平的路面实行检测、作出判断、自动改变运动轨迹以保持机身平稳,但实现这些功能却不需要传感器、电脑之类.
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