摘要
机器人足部与壁面间的粘附能力及其运动控制策略是爬壁机器人能够在处于不同倾斜度的壁面上爬行的关键技术。模仿甲虫足部钩刺对抓的特征及尺蠖蠕动爬行运动特性设计了一种可灵活转向的仿生六足爬行机器人机构。该机器人采用CPG(central pattern generator)仿生控制方法实现其在粗糙壁面上的任意方向的运动,并且通过超声波传感器的反馈信号能够实现避障功能。机器人足部采用对抓设计提高了爬行稳定性,同时CPG控制方法简单、新颖。基于Matlab软件建立了CPG控制网络,并结合反馈信号实时调节网络输出。在Webots移动机器人仿真环境下完成了机器人建模,CPG控制器程序编写,通过动态仿真验证了六足机器人机构和控制方法的合理性,机器人爬行速度约2.7 cm/s。
The adhesive between robot’ s feet and walls,and the control strategy are two key elements in wallclimbing robots. Inspired by the beetle claws and inchworm-like motion,a flexible steerable beetle-inspired hexapod climbing robot is designed in this paper. The bionic control method,i. e. Central Pattern Generator（ CPG） is used to achieve straight motion and obstacle avoidance ability. The robot foot with crawling grasping is designed to improve its climbing stability. The structure of robot is simple,and the CGP control method is simple and innovative. Based on MATLAB software,the CPG control network is constructed combined with ultrasonic sensor feedback signal. The correct control signals can be obtained by adjusting the network parameters in real time. In the Webots enviroment,a professional mobile robot simulation software,the design of a bio-inspired hexapod robot is developed and the controller programming is performed. and the kinematic simulation experiments for the robot are conducted with Webots. The experimental results show that the robot has a reasonable mechanism and the control method is feasible and the crawling speed of approximately 2. 7 cm /sec can be achieved.
出处
《机械科学与技术》
CSCD
北大核心
2014年第11期1621-1626,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
国家重点基础研究发展计划项目(2011CB302106)
国家自然科学基金青年科学基金项目(51005223)资助
