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在四足机器人行走动态控制的研究中,为使四足机器人能在复杂地面状况下行走,提出了一种四足机器人在不平坦地面爬行时的平动步态生成算法.首先构建四足机器人步行机构模型,根据静态稳定性对角线原理的判定确定机器人腿的摆动顺序;以平动步态为例根据机器人前行方向、初始位姿、地面不平坦等因素计算一个步态周期后机器人的位姿从而实现平动直线行走的连续步态算法.考虑了机器人机构约束以及状态变化因素使机器人在每一个步态周期都能跨出尽可能大的步幅实现行走效率的最大化.通过仿真验证了算法的正确性.仿真结果对四足机器人步态稳定性的研究及实现具有实际的参考价值. 相似文献
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《计算机测量与控制》2014,(4)
对于四足机器人,腿型和关节姿态的布置形式极为重要,决定着机器人的运动学和动力学性能;四足机器人的腿型配置形式多样,为了在有效行走的前提下分析不同腿型配置的四足机器人的性能优劣和效率高低,采用基于CPG的仿生步态算法进行运动控制,通过Matlab/Simulink与Adams联合仿真,从速度、能耗和地形适应性三方面对不同腿型配置的四足机器人进行仿真分析和性能评价;通过对比仿真结果得知,前肘后膝型机器人前进速度更快,运动更平稳,横向偏移更小,能耗更低,具有更好的地形适应性,运动性能更优越,为物理样机调试与优化提供了理论依据。 相似文献
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针对传统双足机器人模型缺少脚质量和躯干的问题,提出考虑摆动腿动态及躯干影响的柔性双足机器人模型,并对其行走控制及稳定性进行研究。首先,建立系统的动力学模型并采用欧拉-拉格朗日法推导了系统的动力学方程;同时,在弹簧负载倒立摆(SLIP)模型的基础上添加刚性躯干、脚质量及采用变长度伸缩腿,充分考虑躯干及摆动腿动力学对机器人行走步态的影响;其次,设计基于变长度腿的反馈线性化控制器来跟踪目标轨迹,以及调节摆动腿和躯干的姿态;最后,利用Newton-Raphson迭代法和庞加莱映射分析机器人的不动点及轨道稳定性条件,并在理论分析的基础上进行仿真。仿真结果表明,所提控制器可以实现机器人的周期行走,对外界干扰具有良好的鲁棒性,且雅可比矩阵所有特征值的模均小于1,能形成稳定的极限环,证明系统是轨道稳定的。 相似文献
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本文综合了各种地形条件下的六足步行机器人的静态稳定性方法,详细讨论了能量稳定法,证明了求解六足步行机能量稳定值分量的计算公式,并用能量稳定法分析了采用广义三角步态行走和横向运动六足步行机的爬坡能力、跨越障碍能力等越野性能,首次用数学表达式表述了机体 相似文献
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基于能耗优化的六足机器人摆动腿轨迹规划 总被引:1,自引:0,他引:1
以六足机器人单腿为研究对象,研究机器人摆动腿轨迹规划问题.由于摆动要消耗能量,所以提出了一种基于能耗优化的轨迹规划方案.结合以D-H法建立的机器人单腿运动学模型和腿部位置、速度、加速度等约束,采用多项式插值法在关节空间对机器人摆动腿进行轨迹规划.在考虑直流电机有效功率和热损耗的基础上,通过遗传算法对非线性等式和不等式约束下的非线性规划问题进行求解.仿真结果表明,所设计的方案能有效降低摆动腿能量消耗并保证轨迹连续平滑. 相似文献
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Jung-Min Yang 《Journal of Intelligent and Robotic Systems》2009,54(4):613-627
Multi-legged robots need fault-tolerant gaits if one of attached legs suffers from a failure and cannot have normal operation.
Moreover, when the robots with a failed leg are walking over rough terrain, fault-tolerance should be combined with adaptive
gait planning for successful locomotion. In this paper, a strategy of fault-tolerant gaits is proposed which enables a hexapod
robot with a locked joint failure to traverse two-dimensional rough terrain. This strategy applies a Follow-The-Leader (FTL)
gait in post-failure walking, having the advantages of both fault-tolerance and terrain adaptability. The proposed FTL gait
can produce the maximum stride length for a given foot position of a failed leg and better ditch-crossing ability than the
previous fault-tolerant gaits. The applicability of the proposed FTL gait is verified using computer graphics simulations. 相似文献
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Fault-tolerant locomotion of the hexapod robot 总被引:4,自引:0,他引:4
Jung-Min Yang Jong-Hwan Kim 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》1998,28(1):109-116
In this paper, we propose a scheme for fault detection and tolerance of the hexapod robot locomotion on even terrain. The fault stability margin is defined to represent potential stability which a gait can have in case a sudden fault event occurs to one leg. Based on this, the fault-tolerant quadruped periodic gaits of the hexapod walking over perfectly even terrain are derived. It is demonstrated that the derived quadruped gait is the optimal one the hexapod can have maintaining fault stability margin nonnegative and a geometric condition should be satisfied for the optimal locomotion. By this scheme, when one leg is in failure, the hexapod robot has the modified tripod gait to continue the optimal locomotion. 相似文献
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This paper proposes a new legged walking method for a novel passive-spine hexapod robot. This robot consists of several body segments connected by passive body joints. Each of the body segments carries two 1-DoF (degree of freedom) actuated legs. The robot is capable of achieving planar legged walking by rapidly abducting and adducting its legs. To model the mobility of a robot based on this simple design, the candidate configurations from all possible configurations are first selected in a mobility analysis of the robot based on the screw theory. All the feasible sequences of these candidate configurations are then searched to form planar locomotion gaits. Next, locomotive performance of the gaits is analyzed. Finally, the proposed locomotion design and gait planning methods are verified through simulations and experiments. 相似文献
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Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot 总被引:2,自引:0,他引:2
Shibendu Shekhar RoyAuthor Vitae 《Robotics and Autonomous Systems》2012,60(1):72-82
Minimization of energy consumption plays a key role in the locomotion of a multi-legged robot used for various purposes. Turning gaits are the most general and important factors for omni-directional walking of a six-legged robot. This paper presents an analysis on energy consumption of a six-legged robot during its turning motion over a flat terrain. An energy consumption model is developed for statically stable wave gaits in order to minimize dissipating energy for optimal feet forces distributions. The effects of gait parameters, namely angular velocity, angular stroke and duty factors are studied on energy consumption, as the six-legged robot walks along a circular path of constant radius with wave gait. The variations of average power consumption and energy consumption per unit weight per unit traveled length with the angular velocity and angular stroke are compared for the turning gaits of a robot with four different duty factors. Computer simulations show that wave gait with a low duty factor is more energy-efficient compared to that with a high duty factor at the highest possible angular velocity. A stability analysis based on normalized energy stability margin is performed for turning motion of the robot with four duty factors for different angular strokes. 相似文献
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Chu S.K.-K. Pang G.K.-H. 《IEEE transactions on systems, man, and cybernetics. Part A, Systems and humans : a publication of the IEEE Systems, Man, and Cybernetics Society》2002,32(6):752-756
This paper presents a gait analysis of the equilateral hexagonal model of hexapod robot. Mathematical analysis has been made on mobility, fault-tolerance, and stability. A comparison with the rectangular model of hexapod robot is also given, and it has shown that the hexagonal model shows better turning ability, a higher margin of stability during the fault-tolerant gait, and greater stride length in certain conditions. 相似文献
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Ryuichi Hodoshima Yoshikazu Ohura Yuki Nishiyama Akihiro Sakaki Soichiro Watanabe Shinya Kotosaka 《Advanced Robotics》2016,30(23):1467-1483
This paper reports the design of a new hexapod walking robot, ASURA I, inspired by the physical features of a harvestman’s behavior. ASURA I has a special mobile form with one compact body and much longer legs than conventional hexapod walking robots. This form enhances the walking performance of the robot on rocky or uneven terrain. Here, we present the design and analysis of the leg mechanism, body structure design, gait planning, and prototype development. The long legs (relative to the body) are managed by special parallel link mechanisms, which powerfully and effectively drive the leg joints. The leg mechanism is analyzed by its kinematics, singularity, and static characteristics. The leg length and weight of ASURA I is 1.3 m and 27 kg, respectively. The alternating tripod and wave gaits of ASURA I are successfully demonstrated in a series of walking experiments. 相似文献
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Kinematic and dynamic analysis of a hexapod walking-running-bounding gaits robot and control actions
Servet SoyguderAuthor Vitae Hasan Alli Author Vitae 《Computers & Electrical Engineering》2012,38(2):444-458
Kinematic and dynamic analysis, and control actions of a hexapod robot were realized for walking, running and bounding gaits in this study. If biological inspiration can be used to build robots that deal robustly with complex environments, it should be possible to demonstrate that legged biorobots can function in natural environments. Firstly, we tried to report on theoretic work with a six legged robot designed to emulate spider behavior like walking, running and bounding. We demonstrated theoretically that it can successfully walk, run and bound like a spider over natural terrain. Secondly, limitations in its capability were evaluated, and many biologically based important improvements were obtained for future experimental work. Thirdly, the hexapod robot with bounding gait was controlled by proportional-derivative control algorithm and was carried out by using spring loaded inverted pendulum model. Consequently, the developed kinematic and dynamic methods, and control action method makes both the system control easy and the system performance is improved by decreasing the run time for each loop. 相似文献
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Jung-Min Yang Jong-Hwan Kim 《IEEE transactions on systems, man, and cybernetics. Part A, Systems and humans : a publication of the IEEE Systems, Man, and Cybernetics Society》1999,29(2):224-235
This paper extends the authors' previous results on fault tolerant locomotion of the hexapod robot on even terrain by relaxing nonoverlap of redefined reachable cells of legs and considering crab walking. It is shown that in fault tolerant locomotion two adjacent legs of the hexapod robot can have overlapping redefined reachable cells with each other and consequently the stride length of the gaits is increased. Also, the optimal fault tolerant periodic gaits for hexapod robots to have the maximum stride length in one cycle in crab walking on even terrain are derived with distinct reachable cells. The derived sequence for crab walking has different orders of leg swing according to the relative values of the crab angle and some design parameters of the robot 相似文献
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