帮助 关于我们

返回检索结果

BigDog四足机器人关键技术分析
Key Technology Analysis of BigDog Quadruped Robot

查看参考文献21篇

丁良宏 *  
文摘 对BigDog四足机器人的核心技术进行分析,适应复杂地形是BigDog的设计主线。提高横、纵自由度联动能力是BigDog结构设计主要突破点。机体重心颠簸起伏、机体重心自扰动等不良运动特性是四足机器人控制难度大的主要原因。液压动力系统的构成和优点将被剖析,解决腿类移动装置的驱动问题是液压系统研发的根本目的。支撑腿打滑及俯仰和横滚角度是否过大作为监测机体运动安全状态的参数。惯导和关节编码器可检测机身与肢体的状态,借助压力传感器可还原落足点地形,三者合一可构建虚拟模型。借助虚拟模型可求算机体重心等关键控制处理中间参数,运动控制系统可实施粗略的动作预演及精确的运动学和动力学规划。规划模型与样机模型的偏差作为反馈值实施闭环控制。建立以三维激光扫描仪和双目视觉为主的导航系统,视觉地形还原功能可帮助LS3安全跨越岩石地形,软件系统将各种基本功能整合为有机的整体。机器人的自主性与智能性被讨论,利用BigDog/LS3与好奇号火星探测器作对比并加以分析。BigDog目前存在的几个主要问题:液压系统无法瞬时大幅增压、机械传动各种损伤、仿生设计的不彻底性。LS3机器人针对BigDog的不足,多个改进环节被分析。猎豹、野猫、Petman等机器人被简要分析。阿特拉斯双足机器人借助虚拟模型可实现机械臂碰撞保护功能,遭受外力撞击可迅速恢复平衡状态。
其他语种文摘 The core technology of the BigDog quadruped robot is analyzed. Adapting to the rough terrain is the main design clues of the BigDog. Improving horizontal and vertical degrees of freedom linkage ability is the main innovation of structure design. Not good motion characteristics, such as robot's center of gravity ups and downs and self disturbance are the main reasons for being difficult to control. The components and advantage of the hydraulic power system are analyzed. Solving the driver problem of legged vehicles is the fundamental goal of the hydraulic system development. Supporting leg slipping or not, pitch and roll angle of the body too large or not are the main parameters as monitoring robot's movement condition. IMU and joint encoder can detect the state parameters of the body and limbs. Terrain of foot placement can be restored by pressure sensor. Three-in-one can build a virtual model. By the virtual model, robot's center of gravity and other key control process parameters can be calculated. At the same time, locomotion control system can do action drill roughly and accurate planning of kinematics or dynamics. The deviation of planning and prototype model is taken as the feedback for closed-loop control. LS3 constructs the navigation system of three-dimensional laser scanner and binocular vision as the main. LS3 can stride across rocky terrain by visual terrain reconstruction. Software system can integrate all the basic functions as an organic whole. Autonomy and intelligence of robot are discussed. BigDog/LS3 and Curiosity Mars Rover are compared and analyzed. BigDog has three big problems currently: instantaneously unable to increase hydraulic value significantly, all kinds of damage in mechanical transmission, bionic design not thoroughness. For the inadequacies of BigDog, several improvements are analyzed on the LS3. Petman, Cheetah and Wildcat robot are briefly analyzed. Atlas biped robot has crash protection function and can recovery equilibrium status quickly after external force hitting by virtual model.
来源 机械工程学报 ,2015,51(7):1-23 【核心库】
DOI 10.3901/jme.2015.07.001
关键词 BigDog四足机器人 ; 运动控制地形还原 ; 虚拟模型 ; 自主性 ; 智能性 ; LS3机器人 ; 阿特拉斯机器人
地址

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

语种 中文
文献类型 研究性论文
ISSN 0577-6686
学科 自动化技术、计算机技术
基金 国家高技术研究发展计划(863计划)
文献收藏号 CSCD:5388230

参考文献 共 21 共2页

1.  . BigDog-The most advanced rough-terrain robot on earth,2013 被引 1    
2.  Buehler M. Robots step outside. International Symposium of Adaptive Motion of Animal and Machines,2005:1-4 被引 3    
3.  Playter R. BigDog. Proc. of SPIE,2006:62302O 被引 1    
4.  Raibert M. Bigdog,the Rough-Terrain quadruped robot. Proceedings of the 17th World Congress of the International Federation of Automatic Control Seoul,2008:6-9 被引 2    
5.  . BigDog Overview,2013 被引 1    
6.  Wooden D. Autonomous navigation for BigDog. IEEE International Conference on Robotics and Automation,2010:4736-4741 被引 17    
7.  Raibert M. Legged robot & BigDog,2013 被引 1    
8.  李贻斌. 液压驱动四足仿生机器人的结构设计和步态规划. 山东大学学报,2011,41(5):32-36,45 被引 13    
9.  Zhang S. Trot pattern generation for quadruped robot based on the ZMP stability margin. ICME International Conference on Complex Medical Engineering (CME),2013:608-613 被引 1    
10.  李满天. 基于摄动理论的SLIP模型解析化研究及其运动控制. 机器人,2011,34(6):689-696 被引 1    
11.  Zhang T H. Position/force control for a single leg of a quadruped robot in an operation space. International Journal of Advanced Robotic Systems,2013,10(137):1-7 被引 2    
12.  田兴华. 四足仿生机器人混联腿构型设计及比较. 机械工程学报,2013,49(6):81-88 被引 24    
13.  Lei Jingtao. Energy Efficiency Analysis of Quadruped Robot with Trot Gait and Combined Cycloid Foot Trajectory. Chinese Journal of Mechanical Engineering,2014,27(1):138-145 被引 7    
14.  Semini C. HyQ-Design and development of a hydraulically actuated quadruped robot,2010 被引 13    
15.  . Control of a quadruped walking robot based on biologically inspired approach. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,2007:2969-2974 被引 1    
16.  丁良宏. 浅析BigDog四足机器人. 中国机械工程,2012,23(5):505-514 被引 26    
17.  . QNX,2013 被引 1    
18.  Bajracharya M. Autonomy for Mars rovers:Past,present,and future. Computer,2008,41:44-50 被引 5    
19.  Helmick D. Terrain adaptive navigation for planetary rovers. Field Robotics,2009,26:391-410 被引 3    
20.  Maimone M. Overview of the Mars exploration rovers' autonomous mobility and vision capabilities. International Conference on Robotics and Automation,2007 被引 1    
引证文献 22

1 陈志伟 液压驱动仿生多足机器人单腿设计与试验 农业工程学报,2016,32(5):36-42
被引 10

2 桂佳清 四足侦察机器人的设计与研究 机械传动,2017,41(5):193-197
被引 1

显示所有22篇文献

论文科学数据集
PlumX Metrics
相关文献

 作者相关
 关键词相关
 参考文献相关

版权所有 ©2008 中国科学院文献情报中心 制作维护:中国科学院文献情报中心
地址:北京中关村北四环西路33号 邮政编码:100190 联系电话:(010)82627496 E-mail:cscd@mail.las.ac.cn 京ICP备05002861号-4 | 京公网安备11010802043238号