Title:
GAIT PLANNING METHOD FOR GIANT SIX-LIMB LEG CRAWLER FOOT POLAR SCIENTIFIC EXPEDITION VEHICLE SPANNING ICE CRACKS
Document Type and Number:
WIPO Patent Application WO/2021/037177
Kind Code:
A1
Abstract:
A gait planning method for a giant six-limb leg crawler foot polar scientific expedition vehicle spanning ice cracks, comprising an ice crack spanning preparation state, an ice crack spanning advancing state, and an ice crack spanning recovery state; the ice crack spanning preparation state comprises a total of 9 sequential decomposed action steps including overall forward movement, left middle limb leg crawler foot (C) and right middle limb leg crawler foot (D) rotation support, left front limb leg crawler foot (A) adduction, and right front limb leg crawler foot (B) adduction; the ice crack spanning advancing state comprises a total of 11 sequential decomposed action steps including right front limb leg crawler foot (B) and left front limb leg crawler foot (A) outward swinging, overall forward movement, right middle limb leg crawler foot (D) and left middle limb leg crawler foot (C) side swinging, and right rear limb leg crawler foot (F) and left rear limb leg crawler foot (E) inward swinging; and the ice crack spanning recovery state comprises a total of 3 sequential decomposed action steps including overall forward movement and left rear limb leg crawler foot (E) and right rear limb leg crawler foot (F) folding toward one another. Ice crack spanning by the giant six-limb leg crawler foot polar scientific expedition vehicle is thereby implemented, avoiding the occurrence of personnel and vehicle safety accidents.
Inventors:
ZHAO FUQIANG (CN)
DU PENGYANG (CN)
HUANG QINGXUE (CN)
NIU ZHIGANG (CN)
SUN BO (CN)
DOU YINKE (CN)
CHANG BAOYU (CN)
WU HONGQING (CN)
DU PENGYANG (CN)
HUANG QINGXUE (CN)
NIU ZHIGANG (CN)
SUN BO (CN)
DOU YINKE (CN)
CHANG BAOYU (CN)
WU HONGQING (CN)
Application Number:
PCT/CN2020/111922
Publication Date:
March 04, 2021
Filing Date:
August 27, 2020
Export Citation:
Assignee:
UNIV TAIYUAN SCIENCE & TECH (CN)
UNIV TAIYUAN TECHNOLOGY (CN)
POLAR RES INSTITUTE OF CHINA (CN)
UNIV TAIYUAN TECHNOLOGY (CN)
POLAR RES INSTITUTE OF CHINA (CN)
International Classes:
B62D57/02
Foreign References:
| CN110481665A | 2019-11-22 | |||
| CN110481666A | 2019-11-22 | |||
| CN202115613U | 2012-01-18 | |||
| CN109501884A | 2019-03-22 | |||
| CN109533082A | 2019-03-29 | |||
| CN105480320A | 2016-04-13 | |||
| CN105128973A | 2015-12-09 | |||
| US5857533A | 1999-01-12 |
Other References:
MA PEISUN, YU HAI: "Ditch-Crossing Gait Analysis for Quadruped Walking Vehicle", ROBOT, 1 May 1990 (1990-05-01), pages 30 - 34, XP055786044, [retrieved on 20210316], DOI: 10.13973/j.cnki.robot.1990.05.009
Attorney, Agent or Firm:
SHENZHEN ZHONGDING INTELLECTUAL PROPERTY AGENCY (CN)
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