[1]孙玉香,曹会彬,冯勇,等.具有拨土功能的轮腿一体化机器人结构设计[J].智能系统学报,2012,7(5):409-413.
　SUN Yuxiang,CAO Huibin,FENG Yong,et al.Structure design on a legwheeledintegration robotwith an earthmoving function[J].CAAI Transactions on Intelligent Systems,2012,7(5):409-413.
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具有拨土功能的轮腿一体化机器人结构设计

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 7 期数: 2012年第5期 页码: 409-413 栏目: 学术论文—智能系统 出版日期: 2012-10-25
Title:
Structure design on a legwheeledintegration robotwith an earthmoving function
文章编号:
1673-4785(2012)05-0409-05
作者:
孙玉香1,2，曹会彬1，冯勇2，葛运建1,2
1.中国科学院合肥智能机械研究所 仿生感知与控制研究中心，安徽 合肥 230031；
2.中国科学技术大学 信息科学技术学院，安徽 合肥 230026
Author(s):
SUN Yuxiang1,2, CAO Huibin1, FENG Yong2, GE Yunjian1,2
1. Research Center for Biomimetic Sensing and Control, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, China;
2. College of Information Science and Technology, University of Science and Technology of China, Hefei 230026, China
关键词:
机器人; 轮腿一体化机器人; 机器人结构; 拨土功能; 机器人步态; 多传感器系统; 矿难救援
Keywords:
robot;  legwheeledintegration robot;  robot structure;  earthmoving function;  robot gait;  multisensor system;  mine rescue
分类号:
TP242
文献标志码:
A
摘要:
针对矿井灾难环境特点，采用三维建模软件设计了一种轮腿一体化机器人.该机器人采用轮腿一体式结构，具备了腿式机器人和轮式机器人的运动优点.分析了在不同环境下机器人采用的行进方式（即机器人步态），增强了机器人的环境适应能力，并且设计了基于多传感器信息的运动控制系统.该系统能够完成灾难矿井下的环境探测、信息获取以及机器人步态控制等功能，为矿难救援工作提供了重要的信息.
Abstract:
According to the environmental characteristics of mine disaster, this paper designs a legwheeled integration robot by using 3D modeling software. The robot takes the structure of legwheeled integration, which has the movement advantages of leg robot and wheel robot, analyzes the walking method of robot in various environmental states, enhances the environmental adaptability of robot, and also designs the motion control system based on multisensor information. This system can fulfill various functions, such as environment detection, information acquisition, and robot walking control, etc, providing significant information for the rescue work when mine disaster happens.
参考文献/References:
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备注/Memo

收稿日期： 2011-12-08.
网络出版日期：2012-09-21.
基金项目：国家自然科学基金重大国际合作研究项目（60910005）.
通信作者：孙玉香.
E-mail: yxsun@iim.ac.cn.
作者简介：
孙玉香，女，1984年生，助理研究员，主要研究方向为机器人学与传感器技术.
曹会彬，男，1980年生，助理研究员，主要研究方向为机器人控制与传感器技术.
冯勇，男，1975年生，博士，主要研究方向为机器人控制. 
葛运建，男，1947年生，研究员，博士，中科院智能所机器人传感器实验室主任，国家“863”计划智能机器人传感技术网点实验室主任，中国自动化学会机器人专业委员会常务委员，中国人工智能学会理事、智能机器人专业委员会副主任，国际学术期刊《International Journal of Information Acquisition》副主编.主要研究方向为信息获取与处理、机器人感知系统、人机交互临场感、运动生物力学等.先后承担国家攀登计划、国家“863”计划、国家自然科学基金等科研项目10余项,发表学术论文160余篇.

更新日期/Last Update: 2012-11-13
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