可重构模块机器人倾翻稳定性研究

李斌; 刘金国; 谈大龙

可重构模块机器人倾翻稳定性研究

1.
中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳 110016
2.
中国科学院研究生院,北京 100039

详细信息

作者简介:
李斌（1963- ），男，研究员．研究领域：智能机器人．
刘金国（1978- ），男，博士生．研究领域：智能机器人．

中图分类号: TP24
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- 文章访问数: 45
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出版历程
- 收稿日期: 2004-10-11
- 发布日期: 2005-05-14

Research on the Tipover Stability of a Reconfigurable Modular Robot

1.
Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.
Graduate School of the Chinese Academy of Sciences, Beijing 100039, China

摘要

摘要: 介绍了一种可重构模块机器人，它可以通过构形的变化来提高系统的稳定性和抗倾翻能力．该机器人由3个模块组成，采用履带驱动，具有直线、三角、并排3种对称构形．在对移动机器人的倾翻因素和倾翻对策等问题进行分析的基础上，提出稳定锥方法，用倾翻性能指数对移动机器人的静、动态稳定性进行综合判定．讨论了变形机器人3种对称构形在仰俯、偏转、倾斜等干扰组合作用下的倾翻性能指数和综合稳定性，并进行了仿真实验和非结构环境实验．
- 可重构模块机器人 /
- 稳定锥 /
- 倾翻性能指数 /
- 对称构形 /
- 非结构环境
Abstract: A reconfigurable modular robot is proposed, which can change its configurations to improve its stability and anti-tipover capability. This three-module tracked robot has three kinds of symmetrical configurations, that is, line type, triangle type and row type. Based on analyzing the factors and countermeasures of mobile robot tipover problem, a stability pyramid and the tipover stability index are proposed to determine globally the mobile robot's static and dynamic stability. And the tipover stability index and global stability of the 3 symmetrical configurations of the metamorphic robot under the combined disturbance of pitch, roll and yaw, are discussed. The simulation and experiment in unstructured environment are presented.
- reconfigurable modular robot /
- stability pyramid /
- tipover stability index /
- symmetrical configuration /
- unstructured environment

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参考文献(16)

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文章访问数: 45
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可重构模块机器人倾翻稳定性研究

作者简介: 李斌（1963- ），男，研究员．研究领域：智能机器人．刘金国（1978- ），男，博士生．研究领域：智能机器人．

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出版历程

Research on the Tipover Stability of a Reconfigurable Modular Robot

计量

出版历程

目录

作者简介:
李斌（1963- ），男，研究员．研究领域：智能机器人．
刘金国（1978- ），男，博士生．研究领域：智能机器人．