| 一种基于力反馈的非结构环境识别方法 |
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| 引用本文： | 温平,方跃法.一种基于力反馈的非结构环境识别方法[J].机械工程师,2008(2):62-65. |
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| 作者姓名： | 温平 方跃法 |
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| 作者单位： | 北京交通大学,北京,100044 |
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| 摘 要： | 设计了一种具有良好的机动性能和转向性能的混联的腿机构的四足机器人.为提高机器人对苛刻的非结构环境的适应能力,提出了一种基于力反馈的非环境识别方法,给出了各关节反力与足端力的函数关系.通过在Matlab仿真,给出了3种典型力的识别方法和传感器的安装位置,从而证明了该方法的可行性.
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| 关 键 词： | 四足机器人 腿机构 非结构环境识别 |
| 文章编号： | 1002-2333（2008）02-0062-04 |
| 收稿时间： | 2007-01-18 |
| 修稿时间： | 2007年1月18日 |
A Unstructured Environment Recognition Method Based on Force Feedback |
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| WEN Ping,FANG Yue-fa.A Unstructured Environment Recognition Method Based on Force Feedback[J].Mechanical Engineer,2008(2):62-65. |
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| Authors: | WEN Ping FANG Yue-fa |
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| Abstract: | This paper designs a mixed leg mechanism quaduped robot with excellent mobility and performance. To improve adaptability in harsh unstructured enviroment, a method based on force feedback is introduced.The function of reaction force and torque in each jiont and the force at the foot is given. The identification methods of three typical force and sensor installation location is given by Matlab simulation which prove the feasibility of the method. |
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| Keywords: | quadruped robot leg mechanism unstructured environment recognition |
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