基于可变关节数的模块化两栖仿生机器人转弯控制

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丁锐, 喻俊志, 杨清海, 谭民. 基于可变关节数的模块化两栖仿生机器人转弯控制[J]. 机器人, 2010, 32(4): 491-498.. DING Rui, YU Junzhi, YANG Qinghai, TAN Min. Turning Control for a Modular Biomimetic Amphibious Robot Based on Variable Joint Number. ROBOT, 2010, 32(4): 491-498..

摘要概述了一种具有模块化结构的两栖仿生机器人设计，结合其关节数可变和主从轮式驱动的特点，给出了任意关节数偏转转弯的地面转弯控制方法，并推导了其最小转弯半径．针对多关节两栖机器人的转弯推进方式，利用ADAMS下的运动学模型进行了仿真验证，给出了相应的仿真结果．同时，平衡性分析进一步表明了关节转弯推进方式在当前两栖机器人样机上的适用性．实验结果表明了该转弯方法的有效性，它能够满足机器人的地面运动需求．

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关键词 ：两栖仿生机器人, 变关节数, 模块化结构, 转弯控制

Abstract：This paper addresses a modular designed biomimetic amphibious robot.Given the variable joint number and master-slave wheel-driving mechanism,a steering approach for turning control on land is proposed for a modular robot with arbitrary joint number,and a minimum turning radius is obtained.The ADAMS-based kinematics modeling as well as corresponding simulations are conducted and outlined for the multi-joint turning control of the amphibious robot.The balance analysis further verifies the steering approach to the amphibious robotic prototype.The experimental results demonstrate that the proposed steering method is effective and satisfies robot's operation requirements on land.

Key words： biomimetic amphibious robot variable joint number modular structure turning control

收稿日期: 2009-08-20 录用日期: 2010-03-04

TP24

基金资助:国家863计划资助项目（2007AA04Z202）；国家自然科学基金资助项目（60635010，60775053）；北京市自然科学基金资助项目（4082031）

通讯作者: 丁锐 E-mail: drzky@163.com

作者简介: 丁锐（1984- ），男，博士生．研究领域:仿生机器人，先进机器人控制．
喻俊志（1975- ），男，博士，副研究员．研究领域:仿生机器人，多机器人系统，智能信息处理．
杨清海（1981- ），男，博士生．研究领域:仿生机器人，先进机器人控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I4/491

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