| On Transit Gait Programming of Six-legged Wall-climbing Robot |
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| 作者姓名： | 钱晋武 龚振邦 张启先 |
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| 摘 要： | lintroductionAtpresent,thefirst-stepsurfaceadhesionofmostwallclimbingrobotsdependsonsomeoutsideforce,whichisprovidedeitherbyhumanoperatorsorbysuchaspecialpurposemechanicaldeviceasamanipulator.ThisnotonlyrestrictsInanyspecialapplicationsofwall-climbingrobo…
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| 收稿时间： | 20 January 1997 |
On transit gait programming of six-legged wall-climbing robot |
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| Jinwu Qian,Zhenbang Gong,Qixian Zhang.On Transit Gait Programming of Six-legged Wall-climbing Robot[J].Journal of Shanghai University(English Edition),1997,1(1):42-47. |
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| Authors: | Jinwu Qian Zhenbang Gong Qixian Zhang |
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| Institution: | Qian Jinwu; Gong Zhenbang; Zhang Qixian (Shanghai University) (Beijing University of Aeronautics and Astronautics) |
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| Abstract: | Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections. In this paper, a new idea is put forward by which the complex transit gait is decomposed into a sequence of two relatively simpler parts - single-leg motion and body pitching motion. An algorithm based on the above concept shows its feasibility and effectiveness in the graphic kinematics simulation. |
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| Keywords: | wall-climbing robot ground-to-wall transit gait kinematics simulation gait programming |
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