特种机器人运动轨迹规划及其实现

Research and Realization on Advanced Robot Locomotion Trajectory Planning

研究了基于压力传感器的特种机器人足端轨迹规划策略及其实现;首先,采用基于Mallat小波快速算法对机器人足端压力传感器的输入信号进行去噪;其次,仿照动物的"膝跳反射"原理,提出了基于足端压力传感器信息反馈的"落足反射"式仿生六足机器人足端轨迹规划策略;在所提出的足端轨迹规划策略中,机器人落足点的位置不经过主控制器,而直接由信息处理子系统根据足端压力传感器的输出信息快速确定,从而减轻了主控制器的运算负担,提高了信息处理的实时性,使反应时间小于0.23s;最后,通过实验验证了所提出的多足式机器人足端轨迹规划策略的合理性和实效性。

An advanced robot trajectory planning strategy and application based on pressure sensor is studied in this paper. First, Mallat Wavelet is used to eliminate the input signal noises of the pressure sensors. Second, the foot tip trajectory planning imitating the knee jerk based on the feedback of the robot foot tip pressure sensor is proposed. The foot tip trajectory planning process is finished in the signal pro-cessing sub--system instead of the main controller, which lowers the computational load of the main controller and improves the signal processing speed. The foot tip trajectory planning is successfully applied in biologically inspired hexapod robot, which versifies its effectiveness and usefulness.