1、六足行走运动平台结构设计 I 摘摘 要要 随着人类探索自然界步伐的不断加速，各应用领域对具有复杂环境自主移动能 力机器人的需求，日趋广泛而深入。理论上，足式机器人具有比轮式机器人更加卓 越的应对复杂地形的能力，因而被给予了巨大的关注，但到目前为止，由于自适应 步行控制算法匮乏等原因，足式移动方式在许多实际应用中还无法付诸实践。另一 方面，作为地球上最成功的运动生物，多足昆虫则以其复杂精妙的肢体结构和简易 灵巧的运动控制策略，轻易地穿越了各种复杂的自然地形，甚至能在光滑的表面上 倒立行走。因此，将多足昆虫的行为学研究成果，融入到步行机器人的结构设计与 控制中，开发具有卓越移动能力的六足仿生机器人
2、，对于足式移动机器人技术的研 究与应用具有重要的理论和现实意义。 六足仿生机器人地形适应能力强，具有冗余肢体，可以在失去若干肢体的情况 下继续执行一定的工作，适合担当野外侦查、水下搜寻以及太空探测等对自主性、 可靠性要求比较高的工作。 关键词：六足机器人，适应能力强，结构设计 六足行走运动平台结构设计 II Abstract With the increasingly rapid step of human exploration of nature, the demand for robots with autonomous mobility under complex environmen
3、t has been getting broader and deeper in more and more application areas. Theoretically, legged robot offers more superior performance of dealing with complicated terrain conditions than that provided by wheeled robot and therefore has been given great concern, however up to now, for the reason of a
4、bsence of adaptive walk control algorithm, legged locomotion means still could not be put into practice in many practical applications yet. While on the other hand, as the most successful moving creature on the earth, multi-legged insect has facilely managed to surmount various complex natural landforms and even to walk upside down on smooth surfaces by right of its sophisticated limb structure and dexterous locomotion control strategies. Accordingly, it contains great theoretical and practical
