共查询到18条相似文献,搜索用时 71 毫秒
1.
为解决传统两栖机器人的一些突出缺点,探寻机器人领域更多的可能性。本文设计了一种新型仿生球形两栖子母机器人系统,该系统中球形两栖母机器人在陆地采用仿生四足爬行方式运动,在水下采用矢量喷水电机进行喷水推进,无噪声,增加隐蔽性,并为微型子机器人提供控制信号和能源。微型子机器人陆地采用轮式驱动,设计了可以实现水陆两栖的桨叶轮。该子母机器人系统通过XBee通信模块实现无线通信。通过进行的子母机器人的陆地和水下运动试验,验证了设计的子母机器人系统的有效性。 相似文献
2.
唐晓东 《机器人技术与应用》1996,(2):26-27
随着微电子技术和计算机技术的飞速发展,水下机器人日新月异.水下机器人的功能越来越全,操作越来越方便,体积却越来越小.HYBALL水下机器人是英国HYDROVISION有限公司于九十年代开发研制的最新产品.该机器人是在英国八十年代的DUPLUS、UFO等水下机器人的基础上,吸收其优点,开发研制出来的.开发它的指导思想是“操作简单,成本低廉,保养维修方便,性能先进可靠,功能齐全”. 相似文献
3.
4.
5.
6.
仿生水下机器人运动控制方法研究 总被引:1,自引:0,他引:1
近年来仿生技术在水下机器人上的应用已经成为水下机器人的重要研究方向之一。仿生水下机器人采用尾鳍提供前进动力和改变航向,比传统的桨舵具有高效性和高机动性。本文根据仿生水下机器人水池试验结果讨论了其运动性能,并在此基础上提出了仿生水下机器人运动控制方法,最后通过仿真试验验证了该方法的可行性。运动控制研究,是仿生水下机器人其它使命的基础,具有重要的意义。 相似文献
7.
8.
9.
水下机器人技术 总被引:10,自引:1,他引:10
概述水下机器人是一个水下高技术仪器设备的集成体。它除集成有水下机器人载体的推进、控制、动力电源、导航等仪器、设备外 ,还需根据应用目的的不同 ,配备声、光、电等不同类型的探测仪器。这样 ,水下机器人可以作为人类进行水下研究、观测和作业的动态实验室平台 ,作为人类智能和各种感官、器官在水下的延伸 ,去完成人类肌体无法直接达到的各种水下环境的探索任务。水下机器人可分为两种基本类型 ,即“自治式水下机器人”和“遥控式水下机器人”。“自治式水下机器人” ,国际上统称为AUV (AutonomousUnderwaterVehicle) ,它是根据各种… 相似文献
10.
11.
12.
13.
Jenhwa Guo 《Autonomous Robots》2009,26(4):241-249
This work presents an approach for maneuvering and controlling a biomimetic autonomous underwater vehicle (BAUV). The BAUV
swims forward by oscillating its body and caudal fin. It turns by bending its body and caudal fin toward the intended direction
of motion. A body-spline function is specified by a set of parameters. Genetic algorithms are then used to find the values
of the parameter by evaluating a fitness function over several swimming trials in a water tank. The fitness function is defined
as the ratio of the kinetic energy of the forward motion to the required driving power of the joint motors. A control law
that uses the oscillating frequency to control the forward speed, and applies a body-spline offset parameter to control the
yawing rate is proposed. Moving averages of swimming speeds and heading angles are utilized as feedback signals to control
the forward speed and heading angle of the BAUV. The effectiveness of the control algorithm is experimentally confirmed.
相似文献
Jenhwa GuoEmail: |
14.
视觉导航技术是保证机器人自主移动的关键技术之一。为了从整体上把握当前国际上最新的视觉导航研究动态,全面评述了仿生机器人视觉导航技术的研究进展,重点分析了视觉SLAM(Simultaneous Local-ization and Mapping)、闭环探测、视觉返家三个关键问题的研究现状及存在的问题。提出了一个新的视觉SLAM算法框架,给出了待解决的关键理论问题,并对视觉导航技术发展的难点及未来趋势进行了总结。 相似文献
15.
首先设计了两足步行机器人的本体结构,并选择舵机作为驱动源。然后,基于广义坐标对该机器人进行了运动学建模,该方法运算简便、直观易懂。重点讨论了动态步行的算法设计,详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。结合机器人的几何约束和运动约束,推导机器人参数化步态设计的推导公式,机器人步态的参数化设计大大方便了机器人的运动学和动力学分析。最后,介绍了运动规划的实验设计,并对关节调试作了总结和分析,指出了存在的问题和解决的办法。 相似文献
16.
Bin Fu Feifei Zhang Masanori Ito Yoshitaka Watanabe Taro Aoki 《Artificial Life and Robotics》2009,14(1):43-47
We are developing a new positioning system for an underwater vehicle based on the sound power decreasing with the distance
transmitted and sensor network technology. Conventional positioning systems use the difference between the time sound occurs
at the station and the time it is received at a vehicle. However, this is very expensive because of the high operational costs
and the fact that the measuring field is not very wide. We therefore need a new positioning system with low cost, easy operation,
easy maintenance, and high accuracy. Our system is expected to satisfy such requirements. At the first stage, we confirmed
the principle with theoretical and experimental methods. In the research, we considered only the direct waves in the received
data. These showed good precision for short distances, but also showed that it was easily affected by reflected waves, and
the positioning area was limited to within only a few hundred meters when a reflective surface existed near to the receiver.
These results were reported at AROB2008. Therefore, in the second stage of this study, we tried a new idea that uses a low-frequency
sound and sends plural-frequency sounds simultaneously. We then tried to assess the performance of this method. This article
gives the results of the simulation and the water tank experiment. With these improvements, the influence of reflected sound
was suppressed and the positioning area became larger than in previous research. Then the underwater positioning system using
sound power transmission loss will become useful. 相似文献
17.
3-D Locomotion control for a biomimetic robot fish 总被引:2,自引:0,他引:2
This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral tins, driven by several servomotors. The motion control of the robot fish are then divided into speed control, orientation control, submerge control and transient motion control, corresponding algorithms are detailed respectively. Finally, experiments and analyses on a 4-link, radio-controlled robot fish prototype with 3-D locomotion show its good performance. 相似文献
18.
In this research, we have developed a swimming robot with a fluttering kick with two legs, which can swim freely both on the
surface of water and under water. We have established a control method for all the different types of motion of this robot,
e.g., swimming in a straight line, turning, diving, or rising up in the water. Furthermore, by optimizing the three-dimensional
action of this underwater robot, we can expect an improvement in its performance for complex work. 相似文献