圖  1  混合驅動(dòng)水下刀鋒腿機器人系統結構

Fig.  1  Diagram of hybrid-driven underwater bladed legged robot

圖  2  倒立擺系統及參數定義

Fig.  2  Inverted pendulum and parameter definition

圖  3  兩種時(shí)刻下刀鋒腿的旋轉角度

Fig.  3  Rotation angles of bladed leg under two moments

圖  4  線(xiàn)性倒立擺與滾動(dòng)倒立擺

Fig.  4  Linear and rolling inverted pendulums

圖  5  混合驅動(dòng)水下刀鋒腿機器人的受力分析

Fig.  5  Forces analysis of the hybrid-driven underwater bladed legged robot

圖  6  ${{t}_{2}}$時(shí)刻支撐域示意圖

Fig.  6  Diagram of support domain at ${{t}_{2}}$ moment

圖  7  支撐域與捕獲域示意圖

Fig.  7  Diagram of support domain and capture domain

圖  8  支撐域與捕獲域之間的4類(lèi)重疊情況

Fig.  8  Four types of overlap between support domain and capture domain

圖  9  混合驅動(dòng)水下刀鋒腿機器人穩定性判據框圖

Fig.  9  Block diagram of stability criterion for hybrid-driven underwater bladed legged robot

圖  10  水池實(shí)驗場(chǎng)景圖

Fig.  10  Scene of pool experiment

圖  11  池底行走連拍圖

Fig.  11  Snapshots of walking on pool bottom

圖  12  5 組互異垂推推力的水下刀鋒腿機器人穩定裕度

Fig.  12  Stability margin of underwater bladed legged robot in five kinds of different vertical thrusters

圖  13  5組實(shí)驗中水下刀鋒腿機器人穩定裕度平均值

Fig.  13  Average stability margin of underwater bladed legged robot in five experiments

圖  14  15組互異推力上下界的穩定裕度

Fig.  14  Stability margin under fifteen different upper and lower bounds of thrust

圖  15  15組互異推力上下界的穩定裕度平均值

Fig.  15  Average value of stability margin under 15 groups of different thrust upper and lower bounds