仿章鱼软体机器人形状控制

doi:10.13973/j.cnki.robot.2016.0754

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张润玺, 王贺升, 陈卫东. 仿章鱼软体机器人形状控制[J]. 机器人, 2016, 38(6): 754-759.DOI: 10.13973/j.cnki.robot.2016.0754. ZHANG Runxi, WANG Hesheng, CHEN Weidong. Shape Control for a Soft Robot Inspired by Octopus. ROBOT, 2016, 38(6): 754-759. DOI: 10.13973/j.cnki.robot.2016.0754.

摘要提出一种针对仿章鱼软体机器人的形状控制算法．由于软体机器人具有无限多自由度，所以无法使用针对刚体的机器人控制对软体机器人进行控制．根据软体机器人的运动特点，本文提出针对软体机器人的形状控制参数．通过对软体机器人的运动学建模，建立软体机器人控制参数与驱动线长度之间的函数关系，进而设计形状控制算法．通过李亚普诺夫理论，对形状控制算法的稳定性进行了分析．最后，通过实验验证了形状控制算法的有效性．

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	张润玺
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关键词 ：仿章鱼软体机器人, 形状控制, 运动学模型

Abstract：A shape control algorithm for soft robot inspired by octopus is presented. Because of the infinite degrees of freedom of soft robot, the control algorithm for the rigid robot is not applicable. According to the movement characteristics of soft robot, the shape control parameters are derived. Then the kinematics model of the soft robot is developed, and the relation between soft robot shape parameters and driving cables length is deduced. From this relation, a shape control algorithm is designed. The stability of the shape control algorithm is proved through Lyapunov theory. Finally, the effectiveness of the shape control algorithm is verified by experiments.

Key words： soft robot inspired by octopus shape control kinematics model

收稿日期: 2016-03-27 录用日期: 2016-08-31

TP249

基金资助:国家自然科学基金（61473191）

通讯作者: 王贺升，wanghesheng@sjtu.edu.cn E-mail: wanghesheng@sjtu.edu.cn

作者简介: 张润玺（1989-），男，硕士生．研究领域：软体机器人，医疗机器人．
王贺升（1980-），男，博士，教授．研究领域：视觉伺服，机器人控制，服务机器人．
陈卫东（1968-），男，博士，教授．研究领域：服务机器人，机器人学．

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0754 或 https://robot.sia.cn/CN/Y2016/V38/I6/754

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