蠕动式步行机器人研究

Research on Creep-Walking Robot

提出了一种可在复杂地面环境下行走的蠕动式步行机器人本体结构 .该结构采用一种地面被动适应技术 ,使得腿部可根据地面情况自动调整伸缩长度 ,以获得较为稳定的支撑 .机器人依靠本体变形及被动适应地面的方法产生步行 ,在很大程度上简化了步行过程中复杂的动作协调控制问题 .根据机器人的结构特点 ,给出了两种步态规划方式 .仿真试验表明 ,该机器人控制简单 ,运动灵活 。

A kind of body construction for creep walking robot was proposed. The construction of the legs of the robot adopts a technology of passive terrain adaptation, which makes the legs adjust their length automatically in accordance with the condition of terrain. Thus the robot can gain a relative stable brace. Depending on the robot body deformation and its passive terrain adaptation, the creep walking robot realizes the omnidirectional walking with great simplicity in coordination control. According to the construction of the robot, two kinds of walking mode plans were proposed under the consideration of the requirement to velocity and stability for practical work environment. The imitation shows that the robot is controlled easily and moves agilely.