| 新型仿生六足机器人运动控制技术的研究与探索 |
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| 引用本文： | 罗庆生,韩宝玲,毛新,黄麟.新型仿生六足机器人运动控制技术的研究与探索[J].机械设计与研究,2006,22(2):17-21. |
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| 作者姓名： | 罗庆生 韩宝玲 毛新 黄麟 |
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| 作者单位： | 1. 北京理工大学,机电工程学院,北京,100081
2. 北京理工大学,机械与车辆工程学院,北京,100081 |
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| 摘 要： | 在仿生学研究的基础上,采用模块化分散递阶控制技术构建了仿生六足机器人控制系统,从结构系统分析、控制系统设计、运动特性分析、运动流程控制等各环节加以研究和探索,并通过M atlab进行了轨迹跟踪仿真试验。仿真结果表明机器人具有较好的运动特性和良好的抗干扰能力,从而为仿生六足机器人运动功能的进一步完善奠定了基础。
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| 关 键 词： | 仿生六足机器人 模块化分散递阶控制技术 控制系统设计 运动流程控制 系统仿真试验 |
| 文章编号： | 1006-2343(2006)02-017-05 |
| 收稿时间： | 2005-08-23 |
| 修稿时间： | 2005年8月23日 |
Research and Explore on the Movement Control technology of New Hexapod Walking Bio -robot |
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| LUO Qing-sheng,HAN Bao-ling,MAO Xin,HUANG Ling.Research and Explore on the Movement Control technology of New Hexapod Walking Bio -robot[J].Machine Design and Research,2006,22(2):17-21. |
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| Authors: | LUO Qing-sheng HAN Bao-ling MAO Xin HUANG Ling |
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| Affiliation: | 1. College of Mechatronics Engineering, Beijing Institute of Technology 2. College of Machine and Vehicle Engineering, Beijing Institute of Technology |
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| Abstract: | Based on the bionics research, this paper adopts the modularized hierarchical control technology to build the control system of hexapod walking bio - robot, researches and explores the hexapod walking bio - robot from its structure system, control system, movement characteristic and movement flow, and also uses the Maflab software to accomplish the track scout simulation experiment. The simulation result proves that the hexapod walking bio- robot possesses favorable movement characteristic and anti -jamming capability, thus, this paper provides a firm foundation for further improoing the hexapod walking bio - robot movement function. |
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| Keywords: | hexapod walking bio-robot the modularized heirachical control technology control system design movement flow control system simulation experiment |
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