代良全, 张昊, 戴振东. 仿壁虎机器人足端工作空间分析及其实现协调运动的步态规划[J]. 机器人, 2008, 30(2): 182-186.
引用本文: 代良全, 张昊, 戴振东. 仿壁虎机器人足端工作空间分析及其实现协调运动的步态规划[J]. 机器人, 2008, 30(2): 182-186.
DAI Liang-quan, ZHANG Hao, DAI Zhen-dong. Analysis on Feet Workspace of Gecko Robot and Gait Planning for Its Coordinated Motion[J]. ROBOT, 2008, 30(2): 182-186.
Citation: DAI Liang-quan, ZHANG Hao, DAI Zhen-dong. Analysis on Feet Workspace of Gecko Robot and Gait Planning for Its Coordinated Motion[J]. ROBOT, 2008, 30(2): 182-186.

仿壁虎机器人足端工作空间分析及其实现协调运动的步态规划

Analysis on Feet Workspace of Gecko Robot and Gait Planning for Its Coordinated Motion

  • 摘要: 基于对壁虎爬行运动的研究,提出一种四足仿壁虎爬壁机器人.对其机械结构、运动学、足端工作空间和越障能力进行了分析,规划了两种爬行步态,并针对实验中出现的过驱动问题进行了分析,设计了一种多关节协调控制算法.实验结果表明,使用该控制算法的机器人运动是协调稳定的,验证了分析结果的正确性和控制算法的有效性.

     

    Abstract: Based on the climbing motion of gecko,a quadrupedal gecko wall-climbing robot is introduced.Its mechanical structure,kinematics,feet workspace and obstacle-climbing capability are analyzed and two kinds of wall-climbing gaits are designed.The phenomenon of over-actuation is analyzed and an algorithm for multi-joint coordinated control is proposed to solve this problem.The experiment results show that locomotion of the robot using this control algorithm is coordinated and stable,and both the validity of the analysis results and the effectiveness of the control algorithm are verified.

     

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