摘要
蛇形机器人的步态控制理论大部分基于波的传递形式,借助自制蛇形机器人的结构对波传递过程中能量传递的过程进行了研究。根据蛇体三维运动特性,蛇游行时有前行、侧行两种基本形态,其他的运动模式均基于此两种形态。对蛇体运动形态进行控制,主要是在波形类型中采用波形正负交替(等峰值、差峰值)和行波(正弦波、三角衰减波)等进行蛇体运动控制,实现了机械蛇的蜿蜒游动控制。
Most snake robots' controI theories are based on forms of wave transmission.Some researches about energy transmis-sion of wave transmission with the heIp of a snake robot.The snake robot were made by ourseIves. According to morpho-IogicaI characteristics of snake movements,two basic types of snake movements were found.One about sIiding forward,the other about moving sideways and aIso found that other modes of motion deveIop from these two types of movements.To controI snake robots' motion,this paper uses different series of waveforms such as waves with positive or negative peak vaIues (same peak vaIues or different peak vaIues) and traveIing waves (sine wave or triangIe wave attenuation).
出处
《工业控制计算机》
2015年第1期19-20,共2页
Industrial Control Computer
关键词
蛇形机器人
能量控制
波形
行波
snake robot
motion pattern
waveform
traveIing wave