共查询到19条相似文献,搜索用时 46 毫秒
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文章首先指出二十四自由度双足机器人的控制器是该型机器人的核心,也是扩展该型机器人功能首先需要改进的部件,接着介绍了双足机器人的控制器硬件和软件的改进设计。文章比较详细地阐述了双足机器人步态轨迹控制与规划,并指出下一步的研究方向是如何控制双足步行机器人稳定地和健壮地在复杂环境里及粗糙地面上行走。 相似文献
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双足行走机器人的步态规划、步态交换稳定性控制和行走轨迹识别是其研究重点,机器人控制系统设计的合理性直接决定机器人本体的最终行走性能。同时,合理设计双足机器人的运动机械结构,降低了运动控制难度。双足机器人寻迹系统的步行运动,需要多个关节的协同控制,来保证重心的稳定性,这对双足机器人寻迹系统的硬件尺寸和关节质量有一定的限制。在特定场景中对机器人的寻迹是一个复杂的系统,包括视觉采集、图像预处理、导航线提取、路径规划、机器人控制等算法。因此,本文讨论了基于机器视觉的双足机器人寻迹系统的设计,并对系统设计进行了探讨和分析,以确定机器人各部分都能得到灵活处理。 相似文献
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教学型双足机器人的研究制作是桌上型的重量很轻的作实验用的小型双足步行机器人。研究舵机的驱动控制方法、框架的设计以及制作能通过伺服电机控制运动的一种经济型的双足步行机器人。用单片机与CPLD控制伺服电机,通过预先给定机器人各个部位的运动轨迹,运算确定好各关节的旋转角度及控制系统的控制算法,以实现机器人的实际行走过程。 相似文献
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研究双足机器人稳定性控制问题,步行机器人作为一种载运工具适应地况能力强,结构复杂,运动控制难.实现类人型机器人动态行走,针对行走的稳定性,必须对机器人进行动力学建模、步态设计和稳定姿态控制算法设计.研究了一种七连杆双足机器人的动力学建模和控制系统仿真方法.建立两足步行机器人腿的可参数化仿真模型,对七平面双足机器人的运动情况和控制输入输出进行仿真,得出试验结果.并对影响步行机器人稳定性能的参数进行分析,为后面机器人样机的研制提供理论及数据依据. 相似文献
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伸缩腿双足机器人半被动行走控制研究 总被引:1,自引:1,他引:0
研究半被动伸缩腿双足机器人行走控制和周期解的全局稳定性问题.使用杆长可变的倒立摆机器人模型,以支撑腿的伸缩作为行走动力源,采用庞加莱映射方法分析了双足机器人行走的不动点及其稳定性.当脚与地面冲击时,假设两腿间的夹角保持为常数,设计了腿伸缩长度的支撑腿角度反馈控制率.证明了伸缩腿双足机器人行走过程不动点的全局稳定性.仿真结果表明,本文提出的腿伸缩长度反馈控制可以实现伸缩腿双足机器人在水平面上的稳定行走,并且周期步态对执行器干扰和支撑腿初始角速度干扰具有鲁棒性. 相似文献
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提出一种并联六轮足移动机器人.该机器人设有多模式Stewart型腿结构,其负载能力大,集成了轮式运动和足式运动的优点,可实现足式、轮式、轮足复合式运动.首先,阐述了机器人设计思路,对电动并联六轮足机器人的硬件系统和控制系统进行设计.其次,针对足式运动模式,设计了一套完整的足式"三角"步态和稳定行走算法,该算法可降低足端与地面之间的垂直方向冲击,防止足式运动拖腿或打滑;针对轮式运动模式,设计并介绍了6轮协同控制和轮式协同转向原理;针对轮足复合式运动模式,介绍了变高度、变支撑面、变轮距、主动隔振控制原理,重点分析了主动隔振控制和变轮距控制,可实现主动隔振及姿态平稳控制,提高了机器人在崎岖颠簸地形下的轮足复合式运动的稳定性.最后,对电动并联六轮足机器人的足式、轮式、轮足复合式运动模式进行实验,实验结果验证了本文提出的并联六轮足移动机器人设计的可行性和各运动模式下驱动与控制算法的有效性. 相似文献
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设计了由STM32103VET6主控芯片和烟雾传感器MQ-2组成的学生宿舍烟雾检测器,实现了对烟雾浓度的采集与网络传输。系统由烟雾传感器电路完成对数据的采集,并由STM32103VET6的A/D转换将数据处理,如果浓度值超出门限值则会发生报警,并将宿舍信息通过局域网传递给TCP服务器。在完成系统的硬件设计和软件的开发的过程中,重点探究了烟雾传感器的电路设计和STM32客户端的建立。该系统具有价格低廉,性能稳定,扩展方便等优点,适合多种烟雾检测的场合。 相似文献
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This paper presents the hardware design and gait generation of humanoid soccer robot Stepper-3D. Virtual Slope Walking, inspired by Passive Dynamic Walking, is introduced for gait generation. In Virtual Slope Walking, by actively extending the stance leg and shortening the swing leg, the robot walks on level ground as it walks down a virtual slope. In practical, Virtual Slope Walking is generated by connecting three key frames in the sagittal plane with sinusoids. Aiming for improving the walking stability, the parallel double crank mechanism are adopted in the leg structure. Experimental results show that Stepper-3D achieves a fast forward walking speed of 0.5 m/s and accomplishes omnidirectional walking. Stepper-3D performed fast and stable walking in the RoboCup 2008 Humanoid competitions. 相似文献
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本文介绍了一种应用于电路板测试系统高性能模拟测试接口的研制。重点阐述它的设计思想、硬件结构以及抗干扰措施。 相似文献
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王慧东 《自动化技术与应用》2009,28(12):131-134
本设计针对工业现场使用的双关节机器人,主要完成了硬件系统平台构建和软件系统的设计。应用单片机技术,设计一款主从操作的控制器,能够根据旋转编码器的控制指令精确的控制电机的速度、位置、正反转等物理量,从而满足机器人操作臂精确位置伺服驱动的要求。 相似文献
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针对当前数字存储示波器参数测量算法均是基于DSP和内嵌微处理器型FPGA实现的,提出了一种基于S3C2410微控制器(ARM9内核)和μC/OS-Ⅱ实时操作系统的嵌入式数字示波器参数测量软件模块的设计方法;详细分析了参数测量模块中幅度类参数和时间类参数测量算法的设计与实现过程;最后对参数测量软件模块的性能进行了详细测试,同时对测试结果的误差进行了深入的分析;测试结果验证了参数测量模块的准确性和高效性。 相似文献
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Thanhtam Ho Sangyoon Lee 《International Journal of Control, Automation and Systems》2013,11(5):991-1000
This paper reports the design, simulation, analysis, and experiments of mesoscale fourlegged robots that can locomote by a jumping gait using only shape memory alloy (SMA) wires as actuators. Through studies of the structure and function of leg muscle groups in vertebrates’ lower musculoskeletal system, three types of muscles are selected for robot leg design, and each muscle is then replaced by an SMA wire in the robot model. Two types of robot models are proposed and analyzed using three sets of computer simulation. It can be concluded from the simulation that the sequence of SMA muscle activation, activation arrangement of the rear and the front legs, and the foot length are primary factors determining the jumping performance. It is observed that when the robot has three degrees of freedom for each leg and a foot length of 40 mm, the maximum jumping height is approximately 120% of the robot’s height and the maximum distance per jump is about 35% of its length. In addition, two robot prototypes are presented based on the design models and experimental results. The simulation and experimental results are found to show good agreement. The overall results show that the proposed robot design and SMA actuation method are feasible for all SMA-driven jumping robots. 相似文献
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J. Ignasov A. Kapilavai K. Filonenko J. C. Larsen E. Baird J. Hallam S. Büsse A. Kovalev S. N. Gorb L. Duggen P. Manoonpong 《Artificial Life and Robotics》2018,23(4):555-563
African ball-rolling dung beetles can use their front legs for multiple purposes that include walking, manipulating or forming a dung ball, and also transporting it. Their multifunctional legs can be used as inspiration for the design of a multifunctional robot leg. Thus, in this paper, we present the development of real robot legs based on the study of the front legs of the beetle. The leg movements of the beetle, during walking as well as manipulating and transporting a dung ball, were observed and reproduced on the robot leg. Each robot leg consists of three main segments which were built using 3D printing. The segments were combined with four active joints in total (i.e., 4 degrees of freedom) to mimic the leg movements of the beetle for locomotion as well as object manipulation and transportation. Kinematics analysis of the leg was also performed to identify its workspace. The results show that the robot leg is able to perform all the movements with trajectories comparable to the beetle leg. To this end, the study contributes not only to the design of novel multifunctional robot legs but also to the methodology for bio-inspired leg design. 相似文献