共查询到20条相似文献,搜索用时 31 毫秒
1.
ABSTRACTIn this study, the control of a two-wheeled stair-climbing inverted pendulum robot and its climbing motion are analyzed and discussed. The robot adopts a state-feedback controller with a feed-forward constant to stabilize the body and achieve step-climbing motion. The control parameter is considered based on the dynamic model motion on a flat surface and the static model of motion on the step. For climbing stairs with a narrow step tread, a constant torque is applied to reduce the space required for recovering the body stability after climbing. The stability of the robot is numerically analyzed by analyzing the orbital stability of its limit cycle. The stability analysis shows that the control method can achieve a stable stair-climbing motion. The effectiveness of the control method is demonstrated through an experiment. The result indicates that the robot can climb the stairs, and the required time for climbing a single step is approximately 1.8?s. 相似文献
2.
Motoyasu Tanaka Kazuyuki Kon Mizuki Nakajima Nobutaka Matsumoto Shinnosuke Fukumura Kosuke Fukui 《Advanced Robotics》2020,34(2):70-88
AbstractIn this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed. 相似文献
3.
基于传感器信息融合的移动机器人自主爬楼梯技术研究 总被引:2,自引:0,他引:2
机器人自主爬楼梯是移动机器人完成危险环境探查、侦察、救灾等任务需要具备的基本智能行为之一.分析了楼梯的多样性和履带式机器人爬楼梯固有的不稳定性导致机器人爬楼梯工作的复杂性,描述了带前导手臂的履带式移动机器人爬楼梯的步骤,简要介绍了利用超声波、视频摄像头和激光扫描测距仪信息来感知楼梯和判断机器人与楼梯相对位置的算法,最后提出了一个基于传感器测量值可信度的信息融合方法进行楼梯参数感知和行驶方向计算的机器人自主爬楼梯的控制系统结构. 相似文献
4.
In human living environments, it is often the case that the cleaning area is three-dimensional space such as a high-rise building. An autonomous cleaning robot is proposed so as to move on all floors including stairs in a building. When a robot cleans in three-dimensional space, it needs to turn for direction in addition to climb down stairs. The proposed robot selects movement using legs or wheels depending on stairs or flat surfaces. In this paper, a mobile mechanism and a control method are described for translational locomotion. The translational mechanism is based on using two-wheel-drive type omni-directional mobile mechanism. To recognize a stair using the position-sensitive detector, the robot shifts from translational locomotion to climbing down motion or edge-following motion. It is shown that the proposed robot turns to face a stair with the accuracy of 5°. 相似文献
5.
6.
六轮移动机器人爬楼梯能力分析 总被引:12,自引:1,他引:12
研究了PBJ-01防暴机器人攀越楼梯的能力. 从机器人对楼梯的几何包容、机器人重心和机器人爬楼梯过程中的最大俯仰角对机器人倾覆的影响等多方面考虑, 得出机器人能够爬越楼梯时楼梯参数必须满足的条件. 在该机器人的行为决策中, 为其选择越障还是避障提供了依据. 相似文献
7.
湿吸附机理及其在仿生爬壁机器人中的应用 总被引:1,自引:0,他引:1
提出一种新的基于湿吸附机理的仿生爬壁机器人.首先讨论湿吸附模型及吸附力的控制方法,对一种
基于硫化硅橡胶(聚合物)的仿生足垫的湿吸附力进行测试,由此验证足垫与壁面间的液体薄膜对吸附力的积极影
响.然后设计一种实验研究用的轮爪式仿生爬壁机器人,并对其进行静力学分析.最后对所设计的机器人进行爬壁
试验.结果表明,液体薄膜可以有效提高足垫吸附力,所研制的湿吸附机器人可吸附于约85度的壁面,可成功爬行
于坡度约65度的玻璃壁面,一定程度上验证了湿吸附机理爬壁机器人的可行性. 相似文献
8.
In this paper, we develop a soft climbing robot made of silicone. Octopus-like behaviour is realized by a simple mechanism utilizing the dynamics of the soft body, and the robot can grasp various objects of unknown shape. In addition, by inching its truck, it can climb various columnar objects. Experiments, using pipes, long balloons, and natural trees, are conducted to evaluate the effectiveness of the proposed robot. 相似文献
9.
One of the important advantages of an active wheeled snake-like robots is that it can access narrow spaces which are inaccessible to other types of robot (such as crawlers, walking robots), since snake-like robots have an elongated, narrow body. Additionally, in areas with rubble, snake-like robots can traverse rough terrain and large obstacles since its body can conform to the terrain’s contours. ‘ACM-R8’ is a new snake-like robot which can climb stairs and reach doorknobs in addition to the features explained above. To fulfill these functions, the design of this robot incorporates several key features: joints with parallel link mechanism, mono-tread wheels with internal structure, force sensors and ‘swing-grousers’ which were developed to improve step climbability. In this paper, the design and control methods are described. Experiments confirmed high mobility on stairs and steps, with the robot succeeding in overcoming a step height of 600 mm, despite the height of the robot being just 300 mm. 相似文献
10.
Toshihiko Mabuchi Takeshi Nagasawa Keizou Awa Kazuhiro Shiraki Tomoharu Yamada 《Artificial Life and Robotics》1998,2(4):184-188
This paper deals with the development of a stair-climbing mobile robot with legs and wheels. The main technical issues in
developing this type of robot are the stability and speed of the robot while climbing stairs. The robot has two wheels in
the front of the body to support its weight when it moves on flat terrain, and it also has arms between the wheels to hook
onto the tread of stairs. There are two pairs of legs in the rear of the body. Using not only the rorational torque of the
arms and the wheels, but also the force of the legs, the robot goes up and down stairs. It measures the size of stairs when
going up and down the first step, and therefore the measurement process does not cause this robot to lose any time. The computer
which controls the motion of the robot needs no complicated calculations as other legged robots do. The mechanism of this
robot and the control algorithm are described in this paper. This robot will be developed as a wheelchair with a stair climbing
mechanism for disabled and elderly people in the near future.
This work was presented, in part, at the International Symposium on Artificial Life and Robotics, Oita, Japan, February 18–20,
1996 相似文献
11.
一种机器人新型足—掌机构研究和设计 总被引:1,自引:0,他引:1
本研究提出了一种适合作为多足爬壁机器人腿的足-掌机构。采用这种足-掌机构的抓壁机器人不仅能够顺利实现地-壁过 渡行走,而且有可能适应其他形状的非平壁面。 相似文献
12.
Stairs overcoming is a primary challenge for mobile robots moving in human environments, and the contradiction between the portability and the adaptability of stair climbing robot is not well resolved. In this paper, we present an optimal design of a flip-type mobile robot in order to improve the adaptability as well as stability while climbing stairs. The kinematic constraints on the flip mechanism are derived to prevent undesired interferences among stairs, wheels and main body during climbing stairs. The objective function is proposed according to the traction demand of the robot during stair-climbing motion for the first time and the value of the objective function is calculated though kinetic analysis. The Taguchi method is using as the optimization tool because of its simplicity and cost-effectiveness both in formulating an objective function and in satisfying multiple constraints simultaneously. The performance of the robot under the optimal parameters is verified through simulations and experiments. 相似文献
13.
针对一种新型变形履带机构的轮椅机器人,提出了一种动态确定履带张紧力大小的最优估计算法.
相对于传统的恒定张紧力履带式移动机构,动态确定张紧力显著地降低了功率损耗.
考虑到张紧力的建模复杂性,文中采用模糊决策算法,将影响张紧力的主要因素输入模糊决策模块.
然后结合最小二乘法得到履带张紧力的最优估计算法.
鉴于轮椅机器人越障过程中移动速度较慢的特点,
结合张紧力最优估计算法结果对轮椅机器人上楼梯起始阶段进行了静力学建模.
仿真结果证明了利用张紧力估计算法的越障轮椅机构能够平稳爬楼梯,
同时也表明了动态张紧力算法大大降低了驱动功率损耗. 相似文献
14.
Chun-Kyu Woo Hyun Do Choi Sukjune Yoon Soo Hyun Kim Yoon Keun Kwak 《Journal of Intelligent and Robotic Systems》2007,49(4):325-354
In this paper, we propose a new wheeled mobile robot (WMR) with a passive linkage-type locomotive mechanism that allows the
WMR to adapt passively to rough terrain and climb up stairs, making it ideal for applications such as building inspection,
building security, and military reconnaissance. A simple four-bar linkage mechanism and a limited pin joint are proposed after
considering two design needs: adaptability and passivity. To improve the WMR’s ability to climb stairs, we divided the stair-climbing
motion into several stages, taking into consideration the status of the points of contact between the driving wheels and the
step. For each of the suggested stages, a kinetic analysis was accomplished and validated using the multi-body dynamic analysis
software package ADAMS. The object functions are presented for the stages that influence the WMR’s ability to climb stairs.
The optimization of the object functions is carried out using the multi-objective optimization method. 相似文献
15.
16.
17.
This paper presents a stair-climbing mobile platform built on the Rocker–Bogie mechanism which enables to effectively climb up/down various sizes of stairs in indoor environments without violating its mobile stability. First, the link parameters of Rocker–Bogie mechanism are optimally chosen via the Taguchi method in order to make the trajectory of its center of mass (CM) as smooth as possible, which implies high mobile stability as well as excellent adaptability during climbing up/down stairs. Based on this optimization result, the proposed mobile platform is compactly and lightly constructed suitable for indoor applications by placing all motors and sensors inside the hollow links in order to prevent undesired interferences with stairs as well as to protect themselves from external impact. A simple, robust and cost-effective estimation algorithm is proposed to detect the contact angles between wheels and a stair with high fidelity. Through the kinematic and kinetic analysis combined with the wheel-stair contact angle information, a composite locomotive strategy is established not only to minimize the slip during climbing up a stair but also to prevent falling down during climbing down a stair. The extensive experiments against various types of stairs successfully demonstrate the capability of the proposed mobile platform to effectively and safely climb up/down stairs. 相似文献
18.
设计了一种带正交关节和主动轮组合的蛇形机器人。该机器人不仅能够实现基本的蜿蜒运动、纵向行波运动、横向翻滚运动和横向行波运动,且针对台阶式障碍物提出了一种自主爬越台阶的控制策略。机器人通过激光测距传感器与头部关节的仰角得到台阶高度,抬起相应高度的关节将头关节搭在台阶上,控制主动轮的推进速度与关节抬起的角速度相结合的方式达到上台阶的目的,并且在运动过程中将头部俯仰关节舵机的负载反馈作为判别下台阶的条件。基于ROS (robot operating system)构建了蛇形机器人仿真模型,并通过仿真与实验验证了机器人的基本运动控制和自主爬台阶控制策略的有效性。 相似文献
19.
20.
陈巧 《计算机测量与控制》2023,31(2):135-140
壁面吸附是爬壁机器人的基本功能之一,其吸附程度直接影响爬壁机器人的稳定性和移动速度;为此,设计了基于DSP技术的爬壁机器人吸附控制系统;选择爬壁机器人传感器装置,加设DSP数字信号处理器,设计爬壁机器人吸附控制器;在硬件结构的支持下,根据爬壁机器人的组成结构和工作原理,构建相应的数学模型;在该模型下,利用DSP技术计算爬壁机器人吸附力;通过爬壁机器人在壁面环境下的受力分析结果,确定爬壁机器人安全吸附条件;以吸附控制器作为执行机构,实现爬壁机器人的吸附控制;选择负压爬壁机器人作为测试样机,通过系统测试表明,在瓷砖、木板、玻璃三种壁面环境下,与两个对比系统相比,应用此次设计系统得出爬壁机器人吸附力的控制误差降低了2.04 N,倾覆风险系数降低了0.29,具有较好的吸附控制效果。 相似文献