轮-履-腿复合仿生机器人步态规划及越障性能分析

芮宏斌,李路路,曹伟,王天赐,段凯文,吴莹辉

Gait planning and obstacle-surmounting performance analysis of wheel-track-leg composite bionic robot

Hong-bin RUI,Lu-lu LI,Wei CAO,Tian-ci WANG,Kai-wen DUAN,Ying-hui WU

表3 轮-履-腿复合仿生机器人越障实验结果

Table 3 Obstacle-surmounting experiment results of wheel-track-leg composite bionic robot

实验序号 θf2/(°) θr2/(°) H/mm H*/mm 相对误差/% 1 -30 -30 36.1 34 6.17 2 -45 -45 103.1 98 5.20 3 -60 -60 150.0 144 4.17 4 -90 -90 178.3 175 1.88 5 -45 -60 126.2 123 2.60 6 -45 -90 139.0 137 1.46 7 -60 -45 129.7 124 4.60 8 -90 -45 164.4 158 4.05