摘要
多自由度模块化链节式8足机器人的高自由度以及相似的单元结构对其多样步态的实时控制提出新的要求.为解决其控制问题,研究了多足生物的运动特点,并利用从中发现的步态周期传递特性建立了一套适用于多足机器人的控制策略、三总线控制系统及软件算法.经实物样机验证,采用此控制系统的机器人可完成不同步态的灵活切换,并可通过不同的传递周期改变体节之间的相位差.该控制系统可以完成所要求的控制任务,合理简化机器人的步态控制算法和程序.
Centipede-like robot, which has high degree of freedom and similar body segments, proposes new requirements on real-time control for diverse gaits. To meet above requests, we have studied the movement characteristics of multi-legged creatures and found the features of gait periodic relay. Then the instruction-relay control scheme, the three-bus control system and its software algorithms were designed. In our experiments, with the designed control system, different gaits of robot could be switched flexibly and the phase difference between body sections could be changed by altering relay time. As a whole, this control system could accomplish the requested control task and reasonably simplify the gait control algorithms and procedures.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2013年第7期698-703,共6页
Transactions of Beijing Institute of Technology
基金
国家教育部大学生创新性实验计划资助项目(201210007003)
