Intelligent Control Method Design of Foot Robot Walking on Water
WEI Xianming1,2, XU Linsen2, CAO Kai3, LUO Minzhou2
1. University of Science and Technology of China, Hefei 230026, China;
2. Institute of Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China;
3. Changzhou University, Changzhou 213164, China
A kind of foot robot walking on water is designed according to bionic object basilisk lizards. Because of the complexity of the water environment, the computer simulation method is used for building the entire system of foot robot walking on water and external environment. In view that existing ZMP (zero moment point) algorithms aren't suitable for controlling foot robot walking on water, a CPG (central pattern generator) fuzzy control method is proposed. Parametric analysis, complete control system construction and computer simulation are finished based on the designed CPG controller and fuzzy controller for foot robot walking on water. Finally, the outdoor experiment of the robot walking on water is accomplished, and the real-time declination is determined. Results show that the proposed control method is effective.
[1] 百度百科.蛇怪蜥蜴[EB/OL].(2013-03-19). http://baike.baidu.com/view/4003761.htm.[2] Song Y S, Sitti M. Surface-tension-driven biologically inspired water strider robots: Theory and experiments[J]. IEEE Transactions on Robotics, 2007, 23(3): 578-589. [3] Ozcan O, Wang H, Taylor J D, et al. Surface tension driven water strider robot using circular footpads[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2010: 3799-3804.[4] Floyd S, Keegan T, Palmisano J, et al. A novel water running robot inspired by basilisk lizards[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 2006: 5430-5436.[5] 连志鹏, 吴立成, 袁海斌.一种水上行走机器人的设计与实现[J].机器人, 2010, 32(4):449-453.Lian Z P, Wu L C, Yuan H B. Design and realization of a kind of water strider robot[J]. Robot, 2010, 32(4): 449-453.[6] Sugihara T, Nakamura Y, Inoue H. Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2002: 1404-1409.[7] Or J. A hybrid CPG-ZMP control system for stable walking of a simulated flexible spine humanoid robot[J]. Neural Networks, 2010, 23(3): 452-460. [8] 黄博.四足机器人行走步态及CPG控制研究[D].哈尔滨:哈尔滨工业大学, 2007.Huang B. Study on walking gait and CPG control of a quadruped robot[D]. Harbin: Harbin Institute of Technology, 2007.[9] Matsuoka K. The dynamic model of binocular rivalry[J]. Biological Cyberetics, 1983, 49(3): 201-208.[10] 阮晓钢, 胡敬敏, 蔡建羡, 等.一种基于模糊控制理论的独轮机器人控制算法[J].控制与决策, 2010, 25(6):862-866.Ruan X G, Hu J M, Cai J X, et al. Control algorithm of unicycle robot based on the fuzzy control theory[J]. Control and Decision, 2010, 25(6): 862-866.[11] Tao C W, Taur J, Chang J H, et al. Adaptive fuzzy switched swing-up and sliding control for the double-pendulum-and-cart system[J]. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2010, 40(1): 241-252.