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本文讨论了空间多关节六足步行机器人轻便性的评价指标.分析了步行机器人横向行走和纵向行走,驱动力矩按能量最优分配时,步行机腿上第一关节轴线的方向对步行机轻便性的影响.
In this paper, the evaluation index of lightness of multi-articulated six-legged walking robot is discussed.The horizontal and vertical walking of the walking robot are analyzed. When the driving torque is distributed optimally according to the energy, the direction of the first joint axis of the walking leg is not suitable to the lightness of the walking machine Impact.