四足机器人在崎岖路面的路径规划和稳定行走分析-path planning and stable walking analysis of quadruped robot on rough road surface.docxVIP

目录摘要..........................................................................................................................IABSTRACT................................................................................................................II第1章绪论...........................................................................................................11.1课题来源及研究目的和意义.....................................................................11.1.1课题来源...................................................................................................11.1.2研究目的和意义.......................................................................................11.2足式机器人的发展现状.............................................................................11.3路径规划研究综述.....................................................................................31.4稳定行走关键技术研究综述......................................................................51.5课题主要研究内容....................................................................................6第2章四足机器人的路径规划研究.......................................................................82.1引言...........................................................................................................82.4.1改进算法的数学模型.............................................................................102.4.2改进算法的数学分析.............................................................................112.4.3改进算法的仿真结果.............................................................................192.5本章小结.................................................................................................22第3章四足机器人的稳定行走研究.....................................................................233.1引言.........................................................................................................233.2四足机器人模型运动学分析...................................................................233.2.1四足机器人模型.....................................................................................233.2.2机器人