两栖仿生机器人研究综述

概述了两栖仿生机器人的发展过程，主要从腿式和蛇形两方面介绍国内外两栖机器人的研究现状，分析了目前两栖机器人研究存在的一些难点问题，并展望了两栖机器人的未来发展。     

具有主动腰关节的四足机器人在间歇性对角小跑步态下的姿态平衡控制

提出一种由前轮腿模块、后轮腿模块和主动腰关节模块组成的轮腿式机器人.研究发现,拥有刚性腰关节模块的轮腿式机器人在以对角小跑步态行进的过程中处于振荡的非平衡态.为此,借鉴四足动物生物学研究成果以及基于ZMP(零力矩点)的实时性摆动补偿轨迹规划,本文利用主动腰关节模块来提高轮腿式机器人在间歇性小跑步态下的稳定性.对上述的轮腿式机器人进行运动学和动力学建模,通过仿真实验证实了添加偏航关节的规律性摆动可以大幅减少和改善机体的倾斜振荡,机体的倾斜幅度由原先的62.2 mm降至12.8 mm,明显提升了机器人在间歇性小跑步态下的运动稳定性.     

基于加速度映射的跳跃机器人稳定性控制

针对腿式机器人,讨论了腿式机器人稳定性控制与稳定性判定准则,基于稳定约束条件零力矩点(ZMP),提出一种干扰下的动态稳定性控制方法.落地冲击是跳跃机器人必须考虑的外干扰.所提出的稳定性控制方法是基于驱动性能约束下腿式跳跃机器人的动态平衡,运用ZMP平面加速度正交映射方法,进行地面冲击力干扰下的稳定性控制,在满足轨迹跟踪的同时保证了系统的动态平衡性.跳跃运动过程中的仿真结果表明,该方法是一种有效可行的腿式机器人抗干扰控制策略.     

跳跃机器人研究现状和趋势

跳跃运动其着地点的离散性和发力的突发性和爆发性使跳跃运动模式的仿生机器人具备很强的越障和环境适应能力.本文结合国内外跳跃机器人的研究现状和成果,将跳跃机器人研究分为伸缩式、关节腿式、轮滚式和弹性变形式4类,并分析各类机器人特征.结合本课题组对跳跃机器人的研究,总结了跳跃机器人研究的关键技术,最后展望了未来跳跃机器人研究发展趋势.     

具有拨土功能的轮腿一体化机器人结构设计

针对矿井灾难环境特点,采用三维建模软件设计了一种轮腿一体化机器人.该机器人采用轮腿一体式结构,具备了腿式机器人和轮式机器人的运动优点.分析了在不同环境下机器人采用的行进方式(即机器人步态),增强了机器人的环境适应能力,并且设计了基于多传感器信息的运动控制系统.该系统能够完成灾难矿井下的环境探测、信息获取以及机器人步态控制等功能,为矿难救援工作提供了重要的信息.     

基于姿态角的轮腿机器人驱动控制系统研究

在城市楼道环境中,尤其在面对楼梯等障碍时,五星形轮腿式机器人具有越障能力强、控制简单的优势。为防止机器人在攀爬楼梯时出现较大偏航倾斜,通过仿真软件ADAMS和Simulink中建立了五星形轮腿式机器人的整车动力学模型和PID速度控制模型。结果表明,该联合仿真控制模型能有效、快速地控制机器人速度,减小偏航角度,降低了研究和开发成本。将该驱动控制系统移植到原机器人系统中,并分析了机器人在本控制系统控制下攀爬楼梯等特殊情况下的稳定性能。     

腿型仿生跳跃机器人运动机理的研究

介绍了腿型仿生跳跃机器人研究的意义，对国内外近三十年来的研究进行了文献综述。主要围绕腿型跳跃机器人运动学和动力学仿生基理，讨论了跑跳动物运动仿生研究的几个主要问题和跳跃机器人的两种研究方法。     

双足爬壁机器人壁面凹过渡步态规划研究

针对腿足式爬壁机器人在壁面过渡时的步态规划问题，以一种真空吸附式双足爬壁机器人为研究对象，在步态分析的基础上，基于有限状态机建立了机器人的步态模型，进而提出了基于加权插值和BP神经网络的双足爬壁机器人壁面凹过渡在线步态规划算法，为提高机器人壁面过渡的自主控制能力奠定了基础．仿真分析和实验结果表明，该步态规划算法对于实际的机器人系统是有效的和可行的。     

月球探测(车)机器人技术的发展与展望

简述当前国内外探月研究进展及月球探测(车)机器人研究发展情况.基于月球的复杂环境特征,对比轮式运动与步行式运动月球探测(车)机器人的优势与缺陷,重点介绍了一种新型六轮腿式月球探测机器人方案.该方案具有高机动性,越障能力强,容错性好等特点,对该方案主要技术性能、本体结构、运动系统、轮腿切换机构工作原理等关键技术进行了探讨.     

一种新型轮腿式移动机器人的参数设计与实验研究

面向复杂未知环境探索作业对移动机器人的重大重要需求,借鉴3轮辐型轮腿越障能力强和弧形轮腿缓冲减振好的优势,提出一种新型轮腿式移动机器人.以攀爬楼梯为越障任务和设计目标,从静力学角度分析机器人轮腿与楼梯台阶不产生滑移的条件,得出机器人可跨越楼梯台阶的必要条件.从几何学角度规划一种机器人高效攀爬楼梯的轨迹,据此完成机器人轮腿结构的参数设计,并研究轮腿结构参数对机器人抗冲击能力和续航能力的影响规律.最后,通过软件仿真和爬楼梯实验验证上述工作的可行性和有效性.     

一种多足步行机器人行走状态分析模型

结合步行机器人行走的动力学特性,通过对机器人的加速度传感器信息进行离散傅立叶变换,建立了行走相关特征值的概率模型.通过使用马氏距离作为判定标准,对步行机器人的行走稳定性给出定量描述.四足步行机器人平台上的实验结果表明,该模型能够实时反映机器人的行走特性,帮助机器人在行走状态受环境影响发生改变时,根据行走特征及时调整运动,保证其稳定性.     

Real-time obstacle detection for legged robots using the Kinect sensor

Autonomous navigation of legged robots in complex environments poses a great deal of challenges compared with ground vehicles because of their different terrain traverse capabilities. An obstacle for vehicles may be traversable for legged robots. This paper proposes a real-time obstacle detection algorithm for legged robots using the Microsoft Kinect sensor. First, the elevation map of a reference grid is calculated. Then an obstacle definition for legged robots is proposed, which makes it possible for a legged robot to discriminate traversable areas from non-traversable areas. To reduce computational cost, sometimes, efficient judging rules are developed to identify obstacles. A spiral search strategy is proposed to find the most ground-like point as the starting point for graph-based traversal. Breadth-First-Traversal of the graph is used to label all traversable areas connecting to the starting point. Experimental results demonstrate that our algorithm is reliable and efficient. The proposed algorithm can be employed in real-time obstacle detection for legged robots in complex environments.     

An energetic control based on limit cycles for stabilization of fast legged robots

Control of legged robots with fast gaits is addressed in this paper. These kind of systems interact intermittently with the environment. We propose a viable approach for the control of hopping gaits for legged robots. This control approach is based on controlled limit cycles (CLC) for stabilization of fast gaits (closed orbits) for legged robots. The designed control system generates the desired trajectories (on-line) and control inputs. Robustness of the proposed control with respect to parameter variation and disturbance is illustrated by numerical simulations. Viable definitions of gaits and their admissibility are introduced.     

Design and Development of the Lifting and Propulsion Mechanism for a Biologically Inspired Water Runner Robot

This paper describes the design and development of a novel robot, which attempts to emulate the basilisk lizard's ability to run on the surface of water. Previous studies of the lizards themselves have characterized their means of staying afloat. The design of a biomimetic robot utilizing similar principles is discussed, modeled, and prototyped. Functionally, the robot uses a pair of identical four bar mechanisms, with a 180 ^deg phase shift to achieve locomotion on the water's surface. Simulations for determining robot lift and power requirements are presented. Through simulation and experimentation, parameters are varied with the focus being a maximization of the ratio of lift to power. Four legged robots were more easily stabilized, and had a higher lift-to-power ratio than two legged robots. Decreases in characteristic length and running speed, and increases in foot diameter and foot penetration depth all cause a higher lift to power ratio. Experimental lift approached 80 gr, and experimental performance exceeded 12 gr/W for four legged robots with circular feet. This work opens the door for legged robots to become ambulatory over both land and water, and represents a first step toward robots which run on the water instead of floating or swimming.     

足式机器人在非结构地形中的姿态求解算法

为了改进传统足式机器人姿态求解算法的不足,提出了一种新型的适用于非结构地形的姿态求解方法.该算法将动力学分析得到机体运动加速度信息与惯性测量单元（IMU）的信息相融合,通过卡尔曼滤波器计算机器人机体的姿态信息.所提的算法也适用于机器人机体存在冲击力的情况。为了验证算法的有效性,对两款典型的足式机器人在非结构地形中的运动进行了仿真,结果表明提出的算法能够准确的求解出机器人的姿态信息,具有良好的有效性和通用性。     

Survey of locomotion control of legged robots inspired by biological concept

Compared with wheeled mobile robots, legged robots can easily step over obstacles and walk through rugged ground. They have more flexible bodies and therefore, can deal with complex environment. Nevertheless, some other issues make the locomotion control of legged robots a much complicated task, such as the redundant degree of freedoms and balance keeping. From literatures, locomotion control has been solved mainly based on programming mechanism. To use this method, walking trajectories for each leg and the...     

Observer Design for an Inverted Pendulum with Biased Position Sensors

Journal of Computer and Systems Sciences International - Inverted pendulums can be considered as an approximation for the stabilization problem for legged robots. In this paper we design a linear...     

Rigid vs compliant contact: an experimental study on biped walking

Multibody System Dynamics - Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing...