一种弹跳机器人姿态调节中离散和连续运动建模与实验研究

Modeling and Experimental Study of Discrete and Continuous Movements during Posture Adjustment of a Jumping Robot

对一种仿生弹跳机器人——SEUJumper——的离散和连续运动进行研究,建立了折叠式和展开式两种落地摔倒后自复位方法模型,仿真分析了两者的运动性能,建立了离散式和连续式航向调节方法模型,比较了两种模型的优缺点.设计了自复位和航向调节的机构模型,实现了样机制作,并分别在平整实验台和崎岖草地环境中对两种自复位方法和两种航向调节方法进行了测试.实验结果表明,所设计的机构都能完成机器人在平整表面的自复位和航向调节,而只有展开式自复位和连续式航向调节机构可以分别实现在粗糙表面的自复位和航向调节,即在整体离散弹跳运动中加入局部连续运动能提高SEUJumper在室外崎岖环境中的运动性能,从而说明充分考虑离散和连续运动的协作设计思路能够增强机器人在非结构化环境中的适用性.

Discrete movement and continuous movement of a bio-inspired jumping robot named SEUJumper are investi-gated. Folding and unfolding based styles of self-righting after falling down during landing are modeled. The locomotion characteristics of these two models are analyzed by simulations. Discrete and continuous styles of steering methods are modeled and their advantages and disadvantages are compared. The self-righting and steering mechanisms are designed and prototypes are fabricated. And the two kinds of self-righting methods and two steering methods of the robot are tested in a flat experimental platform and an uneven grass environment. Experimental results show that all the designed mechanism can be used for self-righting and steering of the robot on flat grounds, while only the unfolding based self-righting method and continuous steering method can be used in uneven environments. It means that the locomotion capability of SEUJumper in outdoor uneven environments can be improved by combining the entire discrete jumping movement with local continuous movement. And the design idea that fully considers cooperation between discrete movement and continuous movement can enhance the applicability of robots in unstructured environments.