蟑螂机器人崎岖路面行走算法设计与实现

陈斌; 王建华; 陈伟海; 任冠佼

蟑螂机器人崎岖路面行走算法设计与实现

北京航空航天大学自动化科学与电气工程学院, 北京 100191

基金项目: 国家863计划资助项目(2008AA04Z210); 国家自然科学基金资助项目(60775059); 北京市自然科学基金资助项目(3093021)

详细信息

中图分类号: TP 242
计量
- 文章访问数: 3191
- HTML全文浏览量: 15
- PDF下载量: 1011
- 被引次数: 0
出版历程
- 收稿日期: 2010-07-08
- 网络出版日期: 2011-07-30

Tough terrain walking algorithm for cockroach robot

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 针对直接串联式结构承载能力较弱的问题,设计了一种基于双四连杆构型的仿生蟑螂机器人,该构型运动灵活,承载能力强且可以实现解耦控制.建立了该构型的数学模型,进行运动学分析,求解出机器人的正解以及逆解.采用压力感应电阻(FSR,Force Sensing Resistor)以及光电开关联合检测蟑螂机器人行走在崎岖路面时足端是否落地的信息,而且提出一种新的足端轨迹规划实现蟑螂机器人在崎岖路面的快速行走,综合之前的运动学计算,设计了可用来控制蟑螂机器人在崎岖路面行走的算法,实验验证该算法可以控制机器人在崎岖路面以10 cm/s的速度行走.
- 仿生蟑螂机器人 /
- 四连杆 /
- 不规则地形
Abstract: To solve bad system rigidity and weak bearing capacity of series connecting mechanism, the couple four-bar linkage mechanism was proposed, which can synthesis advantages of existing mechanism. The cockroach robot based on couple four-bar linkage achieved moving agilely, good rigidity, strong bearing capacity and decoupling control. Built the mathematical module of this mechanism, used basic theory of linkage and mathematical of robot analyzed the backward kinematics and forward kinematics of the cockroach robot, then got an algorithm to control it walk on the flat road. Used force sensing resistor (FSR) and photoelectric switches to check whether foots- end have stand on the road. For walking fast on the tough terrain, a new planning for the track of foot was proposed. An algorithm was designed integrated the kinematics which can achieve by C Program. At last an experiment was designed. The results verify the algorithm can control the robot walk on the tough terrain as fast as 10 cm/s.
- bionic cockroach robot /
- four-bar linkage /
- tough terrain

HTML全文

参考文献(1)

[1] Karalarli E,Erkmen A M,Erkmen I.Intelligent gait synthesizer for hexapod walking rescue robots //Proceed-ings-IEEE International Conference on Robotics and Auto-mation.New Orleans:Institute of Electrical and Electronics Engineers Inc,2004:2177-2182 [2] Bai Shaoping,Low K H,Guo Weimiao.Kinematographic experiments on leg movements and body trajectories of cockroach walking on different terrain //Proceedings-IEEE International Conference on Robotics and Automation.San Francisco:IEEE,2000:2605-2610 [3] Quinn R D,Ritzmann R E.Construction of a hexapod robot with cockroach kinematics benefits both robotics and biology[J].Connection Science,1998,10(3):239-254 [4] Quinn R D,Nelson G M,Bachmamn R J.Parallel complementary strategies for implementing biological principles into mobile robots[J].The International Journal of Robotics Research,2003,22(3):169-186 [5] Weingarten J D,Lopes Gabriel A D,Buehler M,et al.Automated gait adaptation for legged robots //Proceedings-IEEE International Conference on Robotics and Automation.New Orleans:In-stitute of Electrical and Electronics Engineers Inc,2004:2156 [6] Moore E Z,Campbell D,Grimminger F,et al.Reliable stair climbing in the simple hexapod ‘RHex’ //Proceedings-IEEE International Conference on Robotics and Automation.Washington DC:Institute of Electrical and Electronics Engineers Inc,2002:2222-2227 [7] Go Yanto,Yin Xiaolei.Navigability of multi-legged robots[J].ASME Transactions on Mechatronics,2006,11(1):6-8 [8] Zhang Hui,Luo Qingsheng.Research on biological inspired hexapod robot's gait and path planning[J].Journal of Beijing Institute of Technology,2009,18(4):443-447 [9] 赵小川,罗庆生,韩宝玲.基于Webots仿真软件的仿生六足机器人机构设计与步态规划[J].系统仿真学报,2009,21 (11):3244- 3245 Zhao Xiaochuan,Luo Qingsheng,Han Baoling.The hexapod design and gait planning based on webots[J].Journal of System Simulation,2009,21(11):3244-3245(in Chinese) [10] Duan Xingji,Chen Weihai,Yu Shouqian,et al Tripod gaits planning and kinematics analysis of a hexapod robot //Proceedings-IEEE International Conference on Control and Automation.Christchurch:IEEE Computer Society,2009:1850-1855 [11] Shih ChingLong,Klein C A.An adaptive gait for legged walking machines over rough terrain[J].IEEE Transactions on Systems,Man and Cybernetics,1993,23(4):1150-1153 [12] Celaya E,Porta J M.Control of a six-legged robot walking on abrupt terrain //Proceedings of IEEE Internati-onal Conference on Robotics and Automation.Minneapolis:IEEE,1996:2731-2736 [13] Espenschied K S,Quinn R D,Beer R D,et al.Biologically based distributed control and local Reflexes improve rough[J].Robotics and Autonomous Systems,1996,18(2):59-64 [14] Chen W H,Yang G L,Ho Edwin H L.Interactive-motion control of modular reconfigurable manipulators //IEEE International Conference on Intelligent Robots and Systems.Las Vegas:Institute of Electrical and Electronics Engineers Inc,2003:1620-1625 [15] Richard M,Li Zexiang,Xiaenka S.A mathematical introduction to robotic manipulation[M].Beijing:Machinery Industry Press,1998:52,63

施引文献

资源附件(0)

访问统计