面向崎岖地形的六足机器人运动能力分析
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摘要
对机器人自身运动能力的把握是进行合理运动规划和控制的前提.针对面向崎岖地形应用的六足机器人的运动能力进行分析.首先,介绍了六足机器人平台及其系统设计;然后,分别对六足机器人腿部、由机器人躯干和各支撑腿构成的并联机构进行了运动学建模,并分析了它们的工作空间;最后,基于Adams和Matlab建立了含有梅花桩崎岖地形的六足机器人仿真平台,并进行了六足机器人运动仿真.结果表明:通过结合六足机器人自身运动能力和地形特征进行合理的运动规划,可有效提高六足机器人在崎岖地形下的运动能力.
The grasp of the moving capability of a robot is crucial to the motion planning and control of the robot. The moving capability of a hexapod robot which is used over rugged terrains is thus analyzed. First,the hexapod robot platform as well as the system design is introduced.Then,the kinematic models of the hexapod robot leg and the parallel mechanism consisting of the robot torso and each support leg are built respectively. Their workspaces are also analyzed.Finally,the hexapod robot simulation platform with a rugged terrain is built based on Adams and Matlab,and the motion simulation with the hexapod robot is performed. Results show that,through reasonable motion planning that takes account of both the moving capability and terrain profiles,it is possible to effectively enhance the mobility of a hexapod robot over rugged terrains.
The grasp of the moving capability of a robot is crucial to the motion planning and control of the robot. The moving capability of a hexapod robot which is used over rugged terrains is thus analyzed. First,the hexapod robot platform as well as the system design is introduced.Then,the kinematic models of the hexapod robot leg and the parallel mechanism consisting of the robot torso and each support leg are built respectively. Their workspaces are also analyzed.Finally,the hexapod robot simulation platform with a rugged terrain is built based on Adams and Matlab,and the motion simulation with the hexapod robot is performed. Results show that,through reasonable motion planning that takes account of both the moving capability and terrain profiles,it is possible to effectively enhance the mobility of a hexapod robot over rugged terrains.
引文
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[12] Belter D,Skrzypczyński P. Rough terrain mapping and classification for foothold selection in a walking robot[J].Journal of Field Robotics,2011, 28(4):497-528.
[13] Tian Y,Gao F. Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning[J].Robotica, 2018,36(3):333-352.
[14] Chen J,Liu Y,Zhao J,et al. Biomimetic design and optimal swing of a hexapod robot leg[J]. Journal of Bionic Engineering,2014,11(1):26-35.
[15] Zhang H,Liu Y,Zhao J,et al. Development of a bionic hexapod robot for walking on unstructured terrain[J].Journal of Bionic Engineering,2014, 11(2):176-187.
[2] Andrada E,Mmpel J,Schmidt A,et al. From biomechanics of rats’ inclined locomotion to a climbing robot[J].International Journal of Design&Nature and Ecodynamics,2013,8(3):192-212.
[3] Oblak J,Cikajlo I,Matjacic Z. Universal haptic drive:a robot for arm and wrist rehabilitation[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering,2010,18(3):293-302.
[4] Jackson A. Neuroscience:brain-controlled robot grabs attention[J]. Nature, 2012,485(7398):317-318.
[5] Cappello L,Elangovan N,Contu S,et al. Robot-aided assessment of wrist proprioception[J]. Frontiers in Human Neuroscience, 2015,9(198):1-8.
[6] Jarc A M,Nisky I. Robot-assisted surgery:an emerging platform for human neuroscience research[J]. Frontiers in Human Neuroscience,2015,9(315):1-9.
[7] Jarrasse N,Proietti T,Crocher V, et al. Robotic exoskeletons:a perspective for the rehabilitation of arm coordination in stroke patients[J]. Frontiers in Human Neuroscience,2014,8(947):1-13.
[8] Dominik B,Piotr S. Rough terrain mapping and classification for foothold selection in a walking robot[J]. Journal of Field Robotics,2011,28(4):497-528.
[9]任冠佼,陈伟海,陈斌,等.基于双四杆机构的蟑螂机器人设计与分析[J].机械工程学报, 2011,47(11):14-22.(Ren Guan-jiao,Chen Wei-hai,Chen Bin,et al. Mechanism design and analysis of cockroach robot based on double fourbar linkage[J]. Journal of Mechanical Engineering,2011,47(11):14-22.)
[10] Annett S,Heiko H,Martin G. Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain[J].International Journal of Robotics Research,2012,31(4):381-402.
[11]李满宏,张明路,张建华,等.基于离散化的六足机器人自由步态生成算法[J].机械工程学报,2016, 52(3):18-25.(Li Man-hong,Zhang Ming-lu,Zhang Jian-hua,et al. Free gait generation algorithm for a hexapod robot based on discretization[J]. Journal of Mechanical Engineering, 2016,52(3):18-25.)
[12] Belter D,Skrzypczyński P. Rough terrain mapping and classification for foothold selection in a walking robot[J].Journal of Field Robotics,2011, 28(4):497-528.
[13] Tian Y,Gao F. Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning[J].Robotica, 2018,36(3):333-352.
[14] Chen J,Liu Y,Zhao J,et al. Biomimetic design and optimal swing of a hexapod robot leg[J]. Journal of Bionic Engineering,2014,11(1):26-35.
[15] Zhang H,Liu Y,Zhao J,et al. Development of a bionic hexapod robot for walking on unstructured terrain[J].Journal of Bionic Engineering,2014, 11(2):176-187.
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