仿生机器蟹样机研究

A bionic crab-like robot prototype

文中介绍的仿生机器蟹具有8足,24个自由度,基于ARM的双层分布式递阶控制方式,通过多传感器获取环境信息,调节身体的姿态,目标是可以自主地在海滩、礁石区和崎岖不平的环境行走.文中介绍了仿生机器蟹原理试验样机研制的过程和主要研究方法,主要包括生物原形分析、模型的建立、运动学分析、步态问题、机械结构设计、控制系统设计和原理样机的试验等内容.在单步行足的控制实验的基础上,进行了原理样机的整机行走实验研究.仿生机器蟹能够实现前进、后退、横行、转弯等功能,并具有一定的越障能力.进行仿生机器蟹的研究,目地是建立多足步行机器人的研究平台.

Research, design, and construction were performed on a crab-like robot with 8 legs and 24 degrees of freedom. The aim was to create a robot that could walk on a beach, reef, and uneven terrain automatically. It used a double-layers control system using ARM technology, which could obtain surrounding information by multi-sensors and make adjustments. Results presented here include shape analysis of the crab, establishment of the robot model, kinematics analysis, gaits study of the eight-legged robot, design of machine framework, control system design, and the experiment of the prototype, which came after a single-leg test. During experiments the prototype showed good agility and could get over obstacles. Study on the bionic crab-like robot provides a theoretic and practical base for research on a bionic multi-leg robot.