轮腿式机器人倾覆稳定性分析与控制

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田海波, 方宗德, 周勇, 李声晋, 寇发荣. 轮腿式机器人倾覆稳定性分析与控制[J]. 机器人, 2009, 31(2): 159-165.. TIAN Hai-bo, FANG Zong-de, ZHOU Yong, LI Sheng-jin, KOU Fa-rong. Analysis and Control for Tumble Stability of Wheel-Legged Robots. ROBOT, 2009, 31(2): 159-165..

摘要对于运动在不平坦地形中的移动机器人而言，其倾覆稳定性非常关键．设计了一种结构对称的轮腿式机器人，它有4个独立的轮腿运动单元，能够变化多种构形．采用动态能量稳定锥方法和倾覆稳定性指数对机器人的稳定性进行综合评价，建立了一个模糊神经网络自适应控制系统．根据稳定性指数值，该系统可以实时改变机器人的构形和速度，保证其倾覆稳定性．正弦路面上的仿真结果表明，该系统所产生的动作实时性好、可靠性高，能够降低机器人自主越障过程中的危险．

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	田海波
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关键词 ：轮腿式机器人, 倾覆稳定性, 自主越障, 模糊神经网络, 协调控制

Abstract：Tumble stability is critical to a mobile robot cruising in uneven terrains.A wheel-legged robot with symmetrical structure is developed,which has four independent wheel-legged articulations and is able to generate a series of configurations. A dynamic energy stability pyramid and a tumble stability index are adopted to synthetically evaluate stability of the robot.An adaptive control system using fuzzy neural network method is created.With the tumble stability index computed, the robot configuration and velocity can be changed in real time to guarantee its tumble stability.Simulation results on a sinusoidal road surface show that the behaviors yielded by the system are of high real-time performance and reliability,and the system can reduce risks in robot autonomous negotiation.

Key words： wheel-legged robot tumble stability autonomous negotiation fuzzy neural network coordination and control

收稿日期: 2008-05-30

TP242

基金资助:西北工业大学研究生创业种子基金资助项目（Z200816）．

作者简介: 田海波（1974- ），男，博士生．研究领域：机器人结构研究及其运动控制．
方宗德（1948- ），男，教授，博士生导师．研究领域：机械设计与制造，机电控制系统．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I2/159

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