Journal of Software:2009.20(8):2170-2180

(中国科学技术大学 计算机科学与技术系,安徽 合肥 230027)
Walking State Analysis Model for Legged Robots
XU Kai,CHEN Xiao-Ping
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Received:December 08, 2007    Revised:March 31, 2008
> 中文摘要: 结合步行机器人行走的动力学特性,通过对机器人的加速度传感器信息进行离散傅立叶变换,建立了行走相关特征值的概率模型.通过使用马氏距离作为判定标准,对步行机器人的行走稳定性给出定量描述.四足步行机器人平台上的实验结果表明,该模型能够实时反映机器人的行走特性,帮助机器人在行走状态受环境影响发生改变时,根据行走特征及时调整运动,保证其稳定性.
Abstract:This paper proposes a possibility walking state analysis model for legged robots based on the feedback of acceleration sensor processed by discrete Fourier transform the dynamic analysis of the walking of legged robot. According to Mahalanobis distance, this model can express the legged robot walking status quantitatively. Using quadrupled robots as an example for evaluation, the experimental results show that this model is able to describe the walking of legged robots and express the walking status in real time, and it can help legged robots adjust their locomotion with the change of environment to ensure their walking stability.
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基金项目:Supported by the National Natural Science Foundation of China under Grant No.60745002 (国家自然科学基金) Supported by the National Natural Science Foundation of China under Grant No.60745002 (国家自然科学基金)
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XU Kai,CHEN Xiao-Ping.Walking State Analysis Model for Legged Robots.Journal of Software,2009,20(8):2170-2180