论文标题
倾斜旋转的四维步态表面 - 两个彩色图定理
Four-dimensional Gait Surfaces for A Tilt-rotor -- Two Color Map Theorem
论文作者
论文摘要
本文介绍了四维表面，这些表面指示倾斜旋转的步态计划。倾斜运动研究中分析的先前步态受动物的启发。没有理论基础可以支持这些步态的鲁棒性。这项研究通过第一次降低倾斜旋转态度的影响来推断步态。随后发现了四维步态表面，预计步态对态度有牢固的态度。这些表面提供了建议计划步态的区域。但是，不连续的区域可能会阻碍步态计划过程，同时使用提案步态表面。然后建立两个彩色图定理，以确保每个步态设计的连续性。通过比较态度的奇异曲线与步态表面上的步态相比，可以证明典型步态遵守两个彩色图定理和步态表面上的稳健性。结果表明，可以接受的态度扩大了步态表面的步态。
This article presents the four-dimensional surfaces which instruct the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; no theoretical base backs the robustness of these gaits. This research deduces the gaits by diminishing the effect of the attitude of the tilt-rotor for the first time. Four-dimensional gait surfaces are subsequently found, on which the gaits are expected to be robust to the attitude. These surfaces provide the region where the gait is suggested to be planned. However, a discontinuous region may hinder the gait plan process while utilizing the proposal gait surfaces. A Two Color Map Theorem is then established to guarantee the continuity of each gait designed. The robustness of the typical gaits obeying the Two Color Map Theorem and on the gait surface is demonstrated by comparing the singular curve in attitude with the gaits not on the gait surface. The result shows that the acceptable attitudes enlarge for the gaits on the gait surface.
