仿生蟹的行走方式与自适应控制策略

Walking Manner and Adaptive Control Strategy of Crab-like Robot

论述基于稳定性的八足行走问题,分析生物蟹的典型行走方式和机械性能。建立五自由度单腿机构模型,确定二圆柱关节参数规划轨迹和三自由度关节参数修正实现仿生蟹行走的控制策略。设计了仿生蟹的步行走方式,提出了基于约束的自适应行走方式,使仿生蟹具有更优良的行走性能。应用坐标变换和微分变换建立了步行走的控制方程,并给定仿生蟹的结构参数,完成了仿真计算和性能曲线绘制,计算结果证明了球铰和控制策略在仿生机器人中应用的可行性。

The issues of eight-legged walking robots based on stability are proposed, and the typical walking manners and the mechanical performances of biological crabs are analyzed. The mechanism model of a single leg with five degrees of freedom is established, the method of tracking the two revolute pairs and making parameters of a three-degree-of-freedom pair modified is adopted. With walking manner designed, the means of adaptive stepped locomotion based on restrictions is proposed, which leads to more excellent performance of kinematical movements. The coordinate transformation and the differential transformation are adopted, and the control equations of stepped locomotion are established. With the structural parameters of crab-like robot ensured, the simulating computations and the diagrams of conclusions are also finished. The calculation results show the feasible applications of spherical pair and the control strategy in biomimetic robots.