| 具有多种运动方式的小型模块化双手爪机器人MiniBibot |
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| 引用本文： | 朱海飞,管贻生,蔡传武,张宪民,张宏.具有多种运动方式的小型模块化双手爪机器人MiniBibot[J].机器人,2012(2):176-181,189. |
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| 作者姓名： | 朱海飞 管贻生 蔡传武 张宪民 张宏 |
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| 作者单位： | 华南理工大学机械与汽车工程学院;阿尔伯塔大学计算机科学系 |
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| 基金项目： | 国家863计划资助项目(2009AA04Z204);国家自然科学基金资助项目(50975089);高等学校博士学科点专项科研基金资助项目(200805611091);中央高校基本科研业务费专项资金资助项目(2009ZZ0006) |
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| 摘 要： | 受尺蠖等动物攀爬动作的启发,开发了一款舵机驱动的具有多种运动方式的小型双手爪机器人MiniBibot.采用模块化方法设计和搭建了机器人系统,以攀爬杆件为控制实例介绍了用户程序开发的步骤和方法.然后根据该机器人的构型,提出了5种可实现的运动方式,并分析了各自的特点和应用.最后通过一系列实验,充分展示和验证了所提出的双手爪机器人系统及其运动方式的有效性和可行性.
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| 关 键 词： | 多种运动方式 双手爪机器人 模块化机器人 仿生机器人 |
MiniBibot:A Miniature Modular Biped Robot with Multi-locomotion Modes |
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| ZHU Haifei,GUAN Yisheng,CAI Chuanwu,ZHANG Xianmin,ZHANG Hong.MiniBibot:A Miniature Modular Biped Robot with Multi-locomotion Modes[J].Robot,2012(2):176-181,189. |
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| Authors: | ZHU Haifei GUAN Yisheng CAI Chuanwu ZHANG Xianmin ZHANG Hong |
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| Affiliation: | 1,2) (1.School of Mechanical and Automative Engineering,South China University of Technology,Guangzhou 510641,China; 2.Department of Computing Science,University of Alberta,Edmonton T6G2E1,Canada) |
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| Abstract: | Inspired by the climbing motion of animals such as inchworm,a miniature biped robot with multi-locomotion modes is developed,named MiniBibot,driven by servo motors.The robotic system is designed and built with modular methodology.The processes and methods to develop user’s program are illustrated with the control instance of climbing poles. According to the robot’s configuration,five realizable locomotion modes are proposed,and their features and applications are analyzed.A series of experiments with this miniature biped robot are conducted to illustrate and verify the effectiveness and feasibility of the proposed robotic system and its multi-locomotion modes. |
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| Keywords: | multi-locomotion modes biped robot modular robot biomimetic robot |
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