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提起步行机器人,人们首先想到的也许是自由驰骋于田野、草原或山间的各种动物。但现实的步行机器人与人们想象中的动物还相差甚远,步行机器人尚处于初始研究阶段,还没有成熟实用的步行机器人。 机器人的运动方式有轮式、履带式和步行方式。轮式和履带式机器人适于条件较好的路面,而步行机器人则适于条件较差的路面。为了适应各种路面情况,可采用轮、腿、履带并用。瑞士科研人员研制出的“RoboTRAC”森林作业机器人(如图1所示)采用了2
The first thing people think about walking robots is the various animals that freely travel in the fields, grasslands, or mountains. However, the reality of walking robots and people imagine a far cry from the animals, walking robots are still in the initial stage of research, there is no mature and practical walking robots. Robot movement is wheeled, tracked and walked. Wheeled and tracked robots are suitable for better-paved surfaces, while walking robots are better suited for less-paved surfaces. In order to adapt to a variety of road conditions, can be used wheels, legs, track and use. Swiss researchers developed the “RoboTRAC” forest work robot (shown in Figure 1) using a 2