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Smart Gait:A Gait Optimization Framework for Hexapod Robots
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作者 Yunpeng Yin Feng Gao +2 位作者 Qiao Sun Yue Zhao Yuguang Xiao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2024年第1期146-159,共14页
The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural mammals.This paper proposes a gait optimization framework for hexapod robots call... The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural mammals.This paper proposes a gait optimization framework for hexapod robots called Smart Gait.Smart Gait contains three modules:swing leg trajectory optimization,gait period&duty optimization,and gait sequence optimization.The full dynamics of a single leg,and the centroid dynamics of the overall robot are considered in the respective modules.The Smart Gait not only helps the robot to decrease the energy consumption when in locomotion,mostly,it enables the hexapod robot to determine its gait pattern transitions based on its current state,instead of repeating the formalistic clock-set step cycles.Our Smart Gait framework allows the hexapod robot to behave nimbly as a living animal when in 3D movements for the first time.The Smart Gait framework combines offline and online optimizations without any fussy data-driven training procedures,and it can run efficiently on board in real-time after deployment.Various experiments are carried out on the hexapod robot LittleStrong.The results show that the energy consumption is reduced by 15.9%when in locomotion.Adaptive gait patterns can be generated spontaneously both in regular and challenge environments,and when facing external interferences. 展开更多
关键词 Gait optimization Swing trajectory optimization Legged robot hexapod robot
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Gait Analysis of a Radial Symmetrical Hexapod Robot Based on Parallel Mechanisms 被引量:6
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作者 XU Kun DING Xilun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2014年第5期867-879,共13页
Most gait studies of multi-legged robots in past neglected the dexterity of robot body and the relationship between stride length and body height.This paper investigates the performance of a radial symmetrical hexapod... Most gait studies of multi-legged robots in past neglected the dexterity of robot body and the relationship between stride length and body height.This paper investigates the performance of a radial symmetrical hexapod robot based on the dexterity of parallel mechanism.Assuming the constraints between the supporting feet and the ground with hinges,the supporting legs and the hexapod body are taken as a parallel mechanism,and each swing leg is regarded as a serial manipulator.The hexapod robot can be considered as a series of hybrid serial-parallel mechanisms while walking on the ground.Locomotion performance can be got by analyzing these equivalent mechanisms.The kinematics of the whole robotic system is established,and the influence of foothold position on the workspace of robot body is analyzed.A new method to calculate the stride length of multi-legged robots is proposed by analyzing the relationship between the workspaces of two adjacent equivalent parallel mechanisms in one gait cycle.Referring to service region and service sphere,weight service sphere and weight service region are put forward to evaluate the dexterity of robot body.The dexterity of single point in workspace and the dexterity distribution in vertical and horizontal projection plane are demonstrated.Simulation shows when the foothold offset goes up to 174 mm,the dexterity of robot body achieves its maximum value 0.164 4 in mixed gait.The proposed methods based on parallel mechanisms can be used to calculate the stride length and the dexterity of multi-legged robot,and provide new approach to determine the stride length,body height,footholds in gait planning of multi-legged robot. 展开更多
关键词 hexapod robot parallel mechanism KINEMATICS stride length DEXTERITY weight service sphere
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Wheel-legged Hexapod Robots:a Multifunctional Mobile Manipulating Platform 被引量:10
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作者 Ding Xilun Zheng Yi Xu Kun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2017年第1期3-6,共4页
Robots are widely used to replace people in some burdensome or hamaful areas. Not only the moving ability but also the manipulating ability is needed in the missions of complex multitasking requirements. In the last d... Robots are widely used to replace people in some burdensome or hamaful areas. Not only the moving ability but also the manipulating ability is needed in the missions of complex multitasking requirements. In the last decades, wheel-legged hexapod robots are extensively studied to ineet this condition. 展开更多
关键词 SLAM Wheel-legged hexapod robots
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Research on Biologically Inspired Hexapod Robot's Gait and Path Planning 被引量:1
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作者 张辉 罗庆生 韩宝玲 《Journal of Beijing Institute of Technology》 EI CAS 2009年第4期443-447,共5页
Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. The softwa... Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. The software Solidworks and MSC. ADAMS are adopted to simulate and analyze the prototype model of the robot. By the simulations used in our design, the applicability of the tripod gait is validated, and the scheme which uses cubic spline curve as the endpoint of foot's path is feasible. The principles, methods, and processes of the simulation of hexapod robot are illustrated. A methodology is proposed to get the robot inverse solution in ADAMS, and to simplify the theoretical calculation, and further more to improve the efficiency of the design. 展开更多
关键词 biologically inspired hexapod robot gait planning kinematics simulation virtual prototype
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Leg compliance control of a hexapod robot based on improved adaptive control in different environments 被引量:2
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作者 朱雅光 金波 李伟 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第3期904-913,共10页
Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance c... Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot. 展开更多
关键词 hexapod robot tip-point force adaptive control fuzzy control adaptability
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Biomimetic Experimental Research on Hexapod Robot's Locomotion Planning
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作者 黄麟 韩宝玲 +2 位作者 罗庆生 张春林 徐嘉 《Journal of Beijing Institute of Technology》 EI CAS 2009年第1期27-31,共5页
To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitali... To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots' leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs' falling points. The last two give criterions of multi-legged robots' toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion. 展开更多
关键词 biomimetic experimental research hexapod robot locomotion planning trajectory planning polynomial curve fitting
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The HITCR-I:Evaluation on a free gait generation method for the hexapod robot on irregular terrain
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作者 张赫 Zhao Jie +1 位作者 Liu Yubin Chen Fu 《High Technology Letters》 EI CAS 2013年第4期406-412,共7页
The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage... The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control system.Based on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of legs.An automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion parameters.The disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular terrain.The experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper. 展开更多
关键词 robotICS hexapod robot irregular terrain walking tree gait gait pattern transition
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A control structure for the autonomous locomotion on rough terrain with a hexapod robot
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作者 Chen Fu Zang Xizhe Yan Jihong Zhao Jie 《High Technology Letters》 EI CAS 2010年第3期311-317,共7页
A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating b... A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously. 展开更多
关键词 hexapod robot rough terrain walking motion planning free gait leg-end trajectory planning
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Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain 被引量:25
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作者 He Zhang Yubin Liu Jie Zhao Jie Chen Jihong Yan 《Journal of Bionic Engineering》 SCIE EI CSCD 2014年第2期176-187,共12页
This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to ... This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation (PCFDC) is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains. 展开更多
关键词 hexapod robot structure optimization posture control force distribution force compensation
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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui 被引量:5
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作者 Yue ZHAO Feng GAO +1 位作者 Qiao SUN Yunpeng YIN 《Frontiers of Mechanical Engineering》 SCIE CSCD 2021年第2期271-284,共14页
Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays a... Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments. 展开更多
关键词 terrain classification hexapod robot legged robot adaptive locomotion gait control
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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg-arm integration 被引量:2
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作者 Yi ZHENG Kun XU +1 位作者 Yaobin TIAN Xilun DING 《Frontiers of Mechanical Engineering》 SCIE CSCD 2022年第1期50-69,共20页
With the widespread application of legged robot in various fields,the demand for a robot with high locomotion and manipulation ability is increasing.Adding an extra arm is a useful but general method for a legged robo... With the widespread application of legged robot in various fields,the demand for a robot with high locomotion and manipulation ability is increasing.Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability.Hence,this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra arm.The manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation condition.The former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing case.For the fixed coordinated clamping case,the degrees of freedom(DOFs)analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are established.For the fixed coordinated shearing case,the coordinated working space is determined,and an ideal coordinated manipulation ball is presented to guide the coordinated shearing task.In addition,the constraint analysis of two adjacent integrated limbs is performed.Then,mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition,including gait switching analysis between hexapod gait and pentapod gait,different pentapod gaits analysis,and a complex six-DOF manipulation while walking.Corresponding experiments are implemented,including clamping tasks with two integrated limbs,coordinated shearing task by using two integrated limbs,and mobile manipulation with pentapod gait.This robot provides a new approach to building a multifunctional locomotion platform. 展开更多
关键词 leg-arm integration hexapod robot fixed coordinated manipulation mobile manipulation
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Obstacle avoidance for a hexapod robot in unknown environment 被引量:7
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作者 CHAI Xun GAO Feng +3 位作者 QI ChenKun PAN Yang XU YiLin ZHAO Yue 《Science China(Technological Sciences)》 SCIE EI CAS CSCD 2017年第6期818-831,共14页
Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait gener... Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment. 展开更多
关键词 obstacle avoidance hexapod robot terrain map building path planning motion planning
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A gait planning method applied to hexapod biomimetic robot locomotion 被引量:1
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作者 陈甫 《High Technology Letters》 EI CAS 2009年第1期7-12,共6页
In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mecha... In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously. 展开更多
关键词 hexapod robot gait planning free gait local rules
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Research on Miniature Hexapod Bio-robot
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作者 宋一然 颜国正 徐小云 《Journal of Shanghai Jiaotong university(Science)》 EI 2005年第3期226-230,共5页
This paper described the structure and control of a new kind of miniature hexap od bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design... This paper described the structure and control of a new kind of miniature hexap od bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can mov e forwards and backwards. The external dimensions of bio-robot is: length 30 mm , width 40 mm, height 20 mm, weight 6.3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility. 展开更多
关键词 hexapod robot bionic robot link curve atlas GAIT control interface
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仿生六足折纸机器人结构设计与运动分析
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作者 曹东兴 贾艳超 +1 位作者 郭翔鹰 毛佳佳 《浙江大学学报(工学版)》 EI CAS CSCD 北大核心 2024年第8期1543-1555,共13页
针对现有折纸机器人组成结构单一,运动不够灵活的问题,将折纸结构与多足机器人设计相结合,耦合三浦折纸和六折痕折纸,提出新型的仿螃蟹六足折纸机器人设计方案,扩展了折纸机器人的运动构型,提升了折纸机器人的运动灵活性.在面对称假设下... 针对现有折纸机器人组成结构单一,运动不够灵活的问题,将折纸结构与多足机器人设计相结合,耦合三浦折纸和六折痕折纸,提出新型的仿螃蟹六足折纸机器人设计方案,扩展了折纸机器人的运动构型,提升了折纸机器人的运动灵活性.在面对称假设下,该机器人单足具有2个自由度,此时将机器人腿部顶点等效为关节,轴线折痕等效为连杆,建立机器人腿部的平面连杆等效模型,并以折面夹角为运动变量,通过仿真计算得出机器人足端的理论运动范围.利用楔形面板技术对折面增厚并避免相邻折面发生物理干涉,建模得到折纸仿螃蟹六足机器人的三维模型.基于平面连杆的等效模型,分析折面夹角与足端运动之间的联系,设计确定机器人的足端运动轨迹与运动步态.利用3D打印技术设计并制作折纸仿生六足机器人试验样机,基于STM32单片机控制实现了机器人三横向角步态运动.结果表明,该折纸仿生机器人可以实现平面构型到仿螃蟹构型的转换,在6条腿的协同运动下,机器人可以平稳地左右横向移动. 展开更多
关键词 六足机器人 仿生 六折痕折纸 三浦折纸 运动分析
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基于概率-区间混合模型的六足机器人运动稳定性优化设计方法
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作者 刘鑫 李飞虎 《工程设计学报》 CSCD 北大核心 2024年第5期585-591,共7页
针对中枢模式发生器(central pattern generator,CPG)模型的不确定性参数对六足机器人运动稳定性的影响,提出了一种基于概率-区间混合模型的六足机器人运动稳定性优化设计方法。首先,建立了六足机器人数值模型,并基于Matsuoka和Kimura... 针对中枢模式发生器(central pattern generator,CPG)模型的不确定性参数对六足机器人运动稳定性的影响,提出了一种基于概率-区间混合模型的六足机器人运动稳定性优化设计方法。首先,建立了六足机器人数值模型,并基于Matsuoka和Kimura模型建立了六足机器人CPG模型;其次,通过概率-区间混合模型来描述CPG模型的不确定性变量,并建立了六足机器人运动稳定性优化数学模型;再次,采用Karush-Kuhn-Tucker(KKT)最优化条件和基于最大熵原理的二次四阶矩方法对六足机器人运动稳定性优化设计问题进行解耦,将三层嵌套优化设计问题转化为单层优化设计问题,实现对优化问题的高效求解;最后,基于径向基函数建立六足机器人运动稳定性优化近似模型,并利用遗传算法求解最优设计解。结果表明,采用所提出的方法能够高效求解CPG模型的最优参数,提高了六足机器人的运动稳定性。因此,该方法在机器人运动控制领域具有较高的应用价值。 展开更多
关键词 六足机器人 运动稳定性 概率模型 区间模型 解耦策略
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一种可变构型六足机器人设计
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作者 王晓磊 郭冀康 《机械传动》 北大核心 2024年第10期42-50,74,共10页
针对野外复杂地形的探测任务,提出了一种可变构型六足机器人。该机器人通过腿部形态变化,可实现爬行和滚动两种运动模式的切换,兼具快速通过性和良好环境适应性。以前腿为研究对象进行了运动学分析,推导出其位置正反解公式以及雅可比矩... 针对野外复杂地形的探测任务,提出了一种可变构型六足机器人。该机器人通过腿部形态变化,可实现爬行和滚动两种运动模式的切换,兼具快速通过性和良好环境适应性。以前腿为研究对象进行了运动学分析,推导出其位置正反解公式以及雅可比矩阵;随后,利用蒙特卡洛法求解出足端工作空间。为综合评估机器人性能,以工作空间、机构灵巧度及刚度为性能指标进行分析,提出了一种多目标优化设计模型,并据此开展尺度综合优化,获得最优结构尺度参数。研究结果表明,优化后,前腿工作空间增大了1.28%,全域灵巧度增大了22.50%,刚度增大了42.80%。最后,根据优化结果制作了样机,为后续研究奠定了基础。 展开更多
关键词 可变构型 六足机器人 性能指标 粒子群算法 结构尺度参数优化
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金属矿山井下采场六足机器人运动分析及步态规划
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作者 张旭飞 王运森 +3 位作者 孟祥凯 王瑜 周红 李元辉 《金属矿山》 CAS 北大核心 2024年第4期193-201,共9页
六足机器人因其结构特殊带来的良好越障能力成为仿生机器人研究的热点,然而,金属矿山井下采场矿石堆积、崎岖不平的特点,给这类机器人的行走稳定性、越障性带来更多的挑战。因此,为使六足机器人在井下具有更好的通过性,对其运动能力和... 六足机器人因其结构特殊带来的良好越障能力成为仿生机器人研究的热点,然而,金属矿山井下采场矿石堆积、崎岖不平的特点,给这类机器人的行走稳定性、越障性带来更多的挑战。因此,为使六足机器人在井下具有更好的通过性,对其运动能力和步态规划进行了相关研究。首先仿照自然界六足生物,设计六足机器人结构,对其腿部进行运动学分析;然后规划了用于采场的直行步态,结合采场路面环境设计了一种直线—摆线复合轨迹提升越障性,同时分析了机器人爬坡稳定性,对爬坡步态进行了优选;最后对规划步态进行仿真和现场模拟试验。仿真和试验结果表明,所规划的足端轨迹能跨越抬腿高度85%的障碍物,并且对矿石堆积形成的采场路面有更好的避障能力;三角步态爬坡时在坡底和坡顶过渡阶段容易打滑,而横向步态可以实现平滑的过渡,爬坡性能更佳。 展开更多
关键词 足式机器人 六足机器人 步态规划 采矿机器人 足端轨迹
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轮腿臂复合的月球移动作业机器人研究
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作者 赵羽航 韩亮亮 +4 位作者 陈成 陈佳伟 张涛 徐坤 丁希仑 《载人航天》 CSCD 北大核心 2024年第5期579-590,共12页
月球探测机器人不仅要具备高适应性、高移动性的移动能力,还需要实现复杂的钻取土壤等作业任务。设计了一种轮腿臂复合的月球移动作业机器人,以中心对称六足机器人为基础,采用模块化思想设计了腿、轮腿和腿臂复合分支,不仅能实现高适应... 月球探测机器人不仅要具备高适应性、高移动性的移动能力,还需要实现复杂的钻取土壤等作业任务。设计了一种轮腿臂复合的月球移动作业机器人,以中心对称六足机器人为基础,采用模块化思想设计了腿、轮腿和腿臂复合分支,不仅能实现高适应性、高机动性的轮腿复合运动,还能实现复杂的双臂协同作业。引入1个具有剪叉的被动轮,保证轮行模式下机器人的稳定性。建立了机器人3种模式:足行模式、腿臂模式、轮臂模式的运动学模型,并设计了模式之间的切换运动规划。基于ROS环境,仿真验证了所提出的运动学模型和运动规划的可行性,使机器人在切换模式与夹取物体中保持运动整体的连续性。 展开更多
关键词 月球探测 轮腿臂复合 六足机器人 运动规划
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基于分布式深度强化学习的六足机器人步态学习与控制
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作者 李伦 向国菲 +1 位作者 马丛俊 佃松宜 《组合机床与自动化加工技术》 北大核心 2024年第8期85-89,共5页
针对六足机器人系统结构与决策的复杂导致步态规划与控制困难的问题,提出了一种基于分布式强化学习的六足机器人步态学习与控制框架。该框架采用大规模并行学习的方式获取训练数据,通过强化学习的方法对网络进行数据驱动训练,得到最优... 针对六足机器人系统结构与决策的复杂导致步态规划与控制困难的问题,提出了一种基于分布式强化学习的六足机器人步态学习与控制框架。该框架采用大规模并行学习的方式获取训练数据,通过强化学习的方法对网络进行数据驱动训练,得到最优控制策略,并在IsaacGym平台下构建仿真环境评估和验证六足机器人步态学习与控制的性能。结果表明,训练的六足机器人步态在奖励值、速度跟踪和稳定性都有良好的表现,验证了所提方法的有效性。 展开更多
关键词 六足机器人 分布式深度强化学习 步态学习
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