译 名：
Kinematics and Motion Control of Four-legged Walking Vehicle
作 者：
Qian Tao Zhang Rongfu
关键词：
walking vehicle, three-dimensional pantograph mechanism, kinematics, computer control.
摘 要：
Studied is kinematics of four-legged walking vehicle with special three-dimensional pantograph mechanism as its legs. By using matrix method, three groups of values are revealed, i.e. position and posture of vehicle body, displacement of every joint in legs, and position of each foot tip, and formulas derived for calculating any one of them with the other two known. In order to research and develop four-legged walking vehicle, a prototype called WL-I is built, and a method put forward to control its motion. With the help of the control system based on single-chip computer MCS-51 designed by authors, the experiment of straight line walking on flat ground is implemented.
