[1]韩媛媛,王生栋,郑超,等.基于半圆形柔顺腿的六足机器人研究[J].机械与电子,2016,(02):72-75,80.
HAN Yuanyuan,WANG Shengdong,ZHENG Chao,et al.Research of Six-legged Robot With Semi-circular Soft Legs[J].Machinery & Electronics,2016,(02):72-75,80.
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基于半圆形柔顺腿的六足机器人研究
《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]
- 卷:
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- 期数:
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2016年02期
- 页码:
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72-75,80
- 栏目:
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智能工程
- 出版日期:
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2016-02-25
文章信息/Info
- Title:
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Research of Six-legged Robot With Semi-circular Soft Legs
- 作者:
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韩媛媛; 王生栋; 郑超; 查富生
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(哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨150001)
- Author(s):
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HAN Yuanyuan; WANG Shengdong; ZHENG Chao; ZHA Fusheng
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(State Key Laboratory of Robotic and System, Harbin Institute of Technology, Harbin 150001,China)
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- 关键词:
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半圆形柔顺腿; SLIP模型; 单腿跳跃仿真
- Keywords:
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semicircle soft leg; SLIP model; hopping simulation
- 分类号:
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TP339
- 文献标志码:
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A
- 摘要:
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由于足式机器人具有适应复杂地形的应用潜力,近年来受到了国内外研究人员的广泛关注。首先,设计了Rhex机器人的本体结构,其突出特点是具有半圆形柔顺腿,该腿有一个关节,由一个直流电机驱动,结构简单,控制方便。其次,建立了Rhex的SLIP动力学模型,该模型将腿等效为弹簧倒立摆,通过规划髋关节的输出特性,驱动Rhex运动。最后,通过单腿跳跃仿真实验验证了SLIP动力学模型的正确性和有效性。
- Abstract:
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For legged robots have the potential of adapting to the complex terrains, recent years it has received the attention of researchers both at home and abroad. First, the structure of Rhex is designed in this paper. Its outstanding feature is a semicircle soft leg that has a joint motioned by a DC motor. It has a simple structure and easy to control. Next we build the SLIP dynamical model of Rhex, which makes the leg equivalent to the spring inverted pendulum. Rhex’s movement is drived by planning the output characteristic, of hip joint. Finally, a hopping simulation platform is built, verifying the correctness and effectiveness of dynamic model.
参考文献/References:
[1]FullR,EarlsK,WongM,et al,“Locomotionlikeawheel?”Nature.
[2]AdamczykPG,CollinsSH,KuoAD,“Theadvantagesofarollingfootinhumanwalking.[J]”TheJournalofexperimentalbiology,[J],200620920:3953-63.
[3]SaranliU,BuehlerM,KoditschekDE.RHex:Asimpleandhighlymobilehexapodrobot[J].InternationalJournalofRoboticsResearch,2001207:616-631.
[4]GallowayKC,HaynesGC,IlhanBD,etal.“X-RHex:Ahighlymobilehexapedalrobotforsensorimotortasks,[D]UniversityofPennsylvania,Tech.Rep.,2010.
[5]Blickhan,R.,TheSpring-MassModelforRunningandHopping,J.Biomechanics,1989,vol.22,pp.1217-1227.
[6]Blickhan,R.andFull,R.J.,SimilarityinMulti-LeggedLocomotion:BouncingLikeaMonopode,J.Comp.Physiol.A,1993,vol.173,pp.509-517.
备注/Memo
- 备注/Memo:
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收稿日期:2015-08-21
作者简介:韩媛媛(1992-),女,山西晋中人,硕士研究生,研究方向为仿生机器人技术与系统;
王生栋(1990-),男,山东泰安人,硕士研究生,研究方向为机器人技术与系统;
郑超(1990–),男,湖北仙桃人,硕士研究生,研究方向为仿生机器人。
更新日期/Last Update:
2016-02-25