履带腿式非结构环境移动机器人特性分析

针对非结构环境的特点 ,提出一种适用于非结构环境的新型履带腿移动机器人 .这种移动机器人结构简洁 ,实用 ,具有很好的环境适应能力 .本文主要分析该移动机器人在非结构环境下的斜坡行走、越障、跨沟、阶梯地形行走、自动复位等功能 .

The characteristics of the unstructured environment is analyzed,and a new track-leg mobile robot is put forward. The structure of the mobile robot is compact,and practical,and is adaptable to the unstructured environment. The performance of the mobile robot under unstructured environment,including walking on slope and steps,surmounting obstacles,striding ditchs,self-recovery,etc.,is analyzed.

国家 8 63计划资助项目 (863 - 51 2 - 2 0 0 1AA42 2 340 )