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[1]刘羽婷,郭健,孙珊,等.新型仿生球形两栖子母机器人系统设计[J].智能系统学报,2019,14(03):582-588.[doi:10.11992/tis.201710025]
 LIU Yuting,GUO Jian,SUN Shan,et al.Novel bionic spherical amphibious mother-son robot system design[J].CAAI Transactions on Intelligent Systems,2019,14(03):582-588.[doi:10.11992/tis.201710025]
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新型仿生球形两栖子母机器人系统设计(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第14卷
期数:
2019年03期
页码:
582-588
栏目:
出版日期:
2019-05-05

文章信息/Info

Title:
Novel bionic spherical amphibious mother-son robot system design
作者:
刘羽婷12 郭健12 孙珊12 陈翔宇12 耿娜文12 宋伯文12 赖伊雯12 郭书祥123
1. 天津市复杂系统控制理论及应用重点实验室, 天津 300384;
2. 天津理工大学 电气电子工程学院, 天津 300384;
3. 日本香川大学 工学部, 日本 高松 7610396
Author(s):
LIU Yuting12 GUO Jian12 SUN Shan12 CHEN Xiangyu12 GENG Nawen12 SONG Bowen12 LAI Yiwen12 GUO Shuxiang123
1. Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Biomedical Robot Laboratory, Tianjin 300384, China;
2. School of Electrical and Electronic Engineering, Tianjin University of Technology, Tianjin 300384, China;
关键词:
子母机器人仿生机器人微型子机器人轮式驱动球形两栖机器人远程无线控制XBee通信无线控制
Keywords:
mother-son robotbionic robotminiature robotwheel-drivenspherical amphibious robotremote wireless controlXBee communicationswireless control
分类号:
TP242.6
DOI:
10.11992/tis.201710025
摘要:
为解决传统两栖机器人的一些突出缺点,探寻机器人领域更多的可能性。本文设计了一种新型仿生球形两栖子母机器人系统,该系统中球形两栖母机器人在陆地采用仿生四足爬行方式运动,在水下采用矢量喷水电机进行喷水推进,无噪声,增加隐蔽性,并为微型子机器人提供控制信号和能源。微型子机器人陆地采用轮式驱动,设计了可以实现水陆两栖的桨叶轮。该子母机器人系统通过XBee通信模块实现无线通信。通过进行的子母机器人的陆地和水下运动试验,验证了设计的子母机器人系统的有效性。
Abstract:
Inorder to solve some outsanding shortcoming of traditional amphibious robots, and explore more possibilities in the field of robotics. In this paper, we present our novel spherical, amphibious mother-son robot system design, in which the spherical, amphibious mother robot performs a four-legged crawling movement on land. To reduce noise, increase concealment, send control signals, and provide energy to the son robot, the mother robot is equipped with a water-jet motor as an actuator under water. The son robot is wheel-driven on land and uses paddle wheels to perform amphibious movements. This novel, spherical amphibious mother-son robot system uses wireless communication via an XBee communications module. In this article, we describe the structure design, hardware structure, and the movement and communication methods used in the system. Additionally, we tested the land and underwater motions of the mother and son robots and verified the effectiveness of the designed system.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-10-30。
基金项目:国家自然科学基金面上项目(61375094);天津理工大学2017年度大学生创新创业训练计划项目(201710060019).
作者简介:刘羽婷,女,1997年生,本科生,主要研究方向为机器人技术;郭健,男,1982年生,副教授,主要研究方向为机器人技术。主持863子课题1项、国家自然科学基金青年项目1项、天津市自然科学基金面上项目1项、教育部留学归国启动项目1项、天津市复杂系统控制理论及应用重点实验室开发基金1项,获国际会议最佳论文奖2项。近5年被SCI、EI检索论文40余篇;孙珊,女,1994年生,硕士研究生,主要研究方向为机器人技术。发表学术论文2篇。
通讯作者:郭健.E-mail:jianguo@tjut.edu.cn
更新日期/Last Update: 1900-01-01