[1]王洪光,姜 勇,房立金,等.双足爬壁机器人壁面凹过渡步态规划研究[J].智能系统学报,2007,2(04):40-45.
 WANG Hong-guang,JIANG Yong,FANG Li-jin,et al.Gait planning of concave transitions between differentslopes for bipedal wallclimbing robots[J].CAAI Transactions on Intelligent Systems,2007,2(04):40-45.
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双足爬壁机器人壁面凹过渡步态规划研究(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第2卷
期数:
2007年04期
页码:
40-45
栏目:
学术论文—智能系统
出版日期:
2007-08-25

文章信息/Info

Title:
Gait planning of concave transitions between differentslopes for bipedal wallclimbing robots
文章编号:
1673-4785(2007)04-0040-06
作者:
王洪光12 姜  勇12房立金 1赵明扬1
1.中国科学院沈阳自动化研究所机器人学重点实验室, 辽宁沈阳1 10016;
2.中国科学院研究生院,北京100049
Author(s):
WANG Hong-guang12JIANG Yong12FANG Li-jin1 ZHAO Ming-yang1
1.Robotics Laboratory, Shenyang Institute of Automation, Chine se Academy of Sciences, Shenyang 110016, China;
2.Graduate School,Ch inese Academy of Sciences, Beijing 100049, China
关键词:
双足爬壁机器人有限状态机壁面凹过渡步态规划
Keywords:
bipedal wallclimbing robot finite state machine concave transi tion gait planning
分类号:
TP24
文献标志码:
A
摘要:
针对腿足式爬壁机器人在壁面过渡时的步态规划问题,以一种真空吸附式双足爬壁机器人为研究对象,在步态分析的基础上,基于有限状态机建立了机器人的步态模型,进而提出了基于加权插值和BP神经网络的双足爬壁机器人壁面凹过渡在线步态规划算法,为提高机器人壁面过渡的自主控制能力奠定了基础.仿真分析和实验结果表明,该步态规划算法对于实际的机器人系统是有效的和可行的.
Abstract:
In order to solve the gait planning issue in wall transitions for bipe dal wallclimbing robots fitted with vacuum suction cups, a gait model based on finite state machine was established after deep analysis of the robot’s gait. O n this basis, an online gait planning algorithm for concave transitions was pr o posed based on weighted interpolation and BP neural networks. This lays a founda tion for improving the ability of robots to transit complex walls under automati c control. Simulations and experiments show that the online gait planning al g orithm can successfully help wallclimbing robots complete a concave transition .

参考文献/References:

[1]肖  立,佟仕忠,丁启敏, 吴俊生. 爬壁机器人的现状与发展[J]. 自动化博览, 2005, 22 (1): 81-84.
XIAO Li, TONG Shizhong, DING Qimin, WU Junsheng. The current situation and devel opment of the wallclimbing robot [J]. Automation Panorama, 2005, 22 (1): 81- 8 4.
[2]ALSALAMEH A A S, AMIN S H M, MAMAT R. Mechanical design of a quadrup ed robot for horizontal ground to vertical wall movement [A]. Proceedings TENC ON 2000[C].[s.l.],2000.
[3]XIAO Jizhong, XI Ning, XIAO Jun, TAN Jindong. Multisensor referenc ed gait control of a miniature climbing robot [A]. IEEE/RSJ International Conf erence on Intelligent Robots and Systems [C]. [s.l.],2003.
[4]HYUNGSEOK K, TAEHUN K, VO G L, HYOUK R C. Gait planning of quadruped walking and climbing robot for locomotion in 3D environment [A]. IEEE Interna tional Conference on Robotics and Automation [C]. Spain, 2005.
[5]XIAO J Z, XIAO J, XI N. Minimal power control of a miniature climbin g robot [A]. Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics [C]. New York, USA, 2003
[6]JIANG Yong, WANG Hongguang, FANG Lijin, ZHAO Mingyang. A novel appro ach to fault detection and identification in suction foot control of a climbing robot [A ]. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots a nd Systems [C]. Beijing,2006

备注/Memo

备注/Memo:
收稿日期:2006-11-27.
基金项目:国家高技术研究发展计划资助项目(2004AA4201102)
作者简介:
王洪光,男,1965年生,研究员,博士生导师,主要研究方向为机器人机构学、特种机器人及机电一体化技术,主持和参加完成了国家自然科学基金、国家863计划、九五攻关、国家重大科学工程及企业委托等研究与应用课题多项;获得发明和实用新型专利10余项;获辽宁省技术发明二等奖1项,沈阳市科技进步二等奖1项,发表论文30余篇. E-mail:hgwang@sia.cn.
姜  勇,男,1975年生,博士,主要研究方向为移动机器人运动规划与控制、智能控制,发表学术论文10余篇.
房立金,男,1965年生,博士,研究员,主要研究方向为离散自动控制、并联机器人、机器人控制.1998年获中国科学院自然科学三等奖一项;1999年获沈阳市科技进步二等奖一项; 2002年获解放军总参二等奖一项;申请专利10余项,发表学术论文10余篇. 
更新日期/Last Update: 2009-05-07