[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(4):40-45.
WANG Hong-guang,JIANG Yong,FANG Li-jin,et al.Gait planning of concave transitions between differentslopes for bipedal wallclimbing robots[J].CAAI Transactions on Intelligent Systems,2007,2(4):40-45.
点击复制
WANG Hong-guang,JIANG Yong,FANG Li-jin,et al.Gait planning of concave transitions between differentslopes for bipedal wallclimbing robots[J].CAAI Transactions on Intelligent Systems,2007,2(4):40-45.
双足爬壁机器人壁面凹过渡步态规划研究
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
2
期数:
2007年第4期
页码:
40-45
栏目:
学术论文—人工智能基础
出版日期:
2007-08-25
- Title:
- Gait planning of concave transitions between differentslopes for bipedal wallclimbing robots
- 文章编号:
- 1673-4785(2007)04-0040-06
- 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 wallclimbing 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 online 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 online gait planning al g orithm can successfully help wallclimbing 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 wallclimbing 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. Multisensor 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
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