基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究
Simulation and Experimental Study of an Energy-based Control Method for the Serpentine Locomotion of a Snake-like Robot
查看参考文献24篇
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文摘
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能量作为最基本的物理量之一,联系着蛇形机器人蜿蜒运动的各个方面.能量耗散描述了环境交互作用,能量转换对应着运动的动力学过程,能量平衡反映了蜿蜒运动的协调性.提出一种基于能量的蛇形机器人蜿蜒运动控制方法被动蜿蜒.通过输出关节力矩控制机器人蜿蜒运动,由机器人的能量状态调整力矩的大小.仿真结果显示了被动蜿蜒控制下机器人的构形、角度、力矩、能量状态和转弯特性,并对控制力矩进行了递归分析.基于Optotrak运动测量系统构建了被动蜿蜒控制的模拟/物理混合实验系统.进行了移动实验和拖动实验,前者改变环境的摩擦特性,后者改变机器人的负载.仿真和实验验证了蛇形机器人被动蜿蜒控制的有效性和适应性. |
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其他语种文摘
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Energy plays an important role in the serpentine locomotion of a snake-like robot.The energy dissipation describes the environmental interaction;the energy transformation reflects the locomotion dynamics;the energy balance relates to the locomotion coordination.An energy-based control method for a snake-like robot,named passive creeping,is proposed.This method controls the robot by using torque inputs which are adjusted by the robot s energy state.In simulation,the configurations,angles,torques,energy states,and turning characteristics are revealed,and the torque data are analyzed by using a recurrence plot.Based on an Optotrak motion capture system,a virtual/physical mixed experimental system is constructed.A locomotion experiment and a drag experiment are performed.The former changes the environment,and the latter alters the payload.The simulations and experiments demonstrate the validity and adaptability of the passive creeping. |
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来源
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自动化学报
,2011,37(5):604-614 【核心库】
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DOI
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10.3724/sp.j.1004.2011.00604
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关键词
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蛇形机器人
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蜿蜒运动
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能量
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适应性
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运动测量系统
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地址
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1.
中国科学院研究生院, 机器人学国家重点实验室, 北京, 100039
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日本立命馆大学机器人系, 机器人学国家重点实验室, 日本, 草津, 525-8577
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中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 沈阳, 110016
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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0254-4156 |
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学科
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自动化技术、计算机技术 |
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基金
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国家自然科学基金
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中国科学院知识创新工程青年人才领域前沿项目
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文献收藏号
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CSCD:4192852
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