双自由度轮脚快速转换机器人系统设计

针对轮腿或轮脚机器人进行轮与脚的转换时,必须在静止状态下完成,而不能在运动的同时实现转换。开发出由4个主驱动轴组成的双自由度轮脚复合机构的机器人,采用中枢模式产生器(CPG)的仿生控制架构,借助多种传感器信息生成适合于当前环境下运动的轨迹信号,使机器人能在未知的地形下进行流畅的步态、速度转换。通过测试表明,轮脚机器人通过改变控制参数Kp实现了运动中轮脚的平滑转换,轮模式和脚模式的最大速度分别为1.68m/s和0.56m/s,最大越障高度为15cm,能为自动识别路径的越障机器人设计提供参考。

Design of Two Degrees of Freedom Fast Transforming Caster Robot System

When the caster or wheel robot performing the translation of wheel and foot, it must be completed in stationary state, but can not perform the transformation while in movement. A robot is developed which consists of four main drive shaft with two degrees of freedom (2-DOF) caster recombination mechanism. Using central pattern generator (CPG) biomimetic control architecture, by means of a variety of sensor information to generate the moving track signals suitable for the current environment, so that the robot could perform smooth gait and speed transform in unknown terrain. Through tests show that, the caster robot could achieve a smooth transition movement of caster by changing the control parameters Kp, maximum speed of wheel mode and feet mode are 0.87 m/s and 0.56 m/s , with maximum obstacle height of 15 cm, it can provide reference for obstacle-crossing robot with function of automatically path identifying.