Gait Analysis and Trajectory Planning of Quadruped Wheel-legged Mobile Robot

Gait Analysis and Trajectory Planning of Quadruped Wheel-legged Mobile Robot

A quadruped wheel-legged mobile robot based on 2-UPS/（S+SPR）R closed loop parallel mechanism is designed for the complex surface environment of aliens planet. The optimal gait is obtained by comparing the stability margin and the barycenter adjustment of the robot in the process of motion， the stabi...

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Bibliographic Details
Main Authors: Qing Li, Liting Zhao, Yuxi Feng, Rongshuai Liu, Peng Zhang
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2021-01-01
Series:Jixie chuandong
Subjects:
Quadruped wheel-legged robot;2-UPS/（S+SPR）R closed-loop parallel mechanism;Gait analysis;Trajectory planning
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.012

Internet

http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.04.012

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