English

应用科学学报 ›› 1999, Vol. 17 ›› Issue (1): 64-69.

• 论文 • 上一篇    下一篇

考虑实际约束的机器人地壁过渡运动研究

钱晋武, 罗怡, 章亚男, 吴惠兴, 沈耀宗   

  1. 上海大学
  • 收稿日期:1997-04-04 修回日期:1998-04-08 出版日期:1999-03-31 发布日期:1999-03-31
  • 基金资助:
    863智能机器人机构开放实验室资助项目

Robotic Ground-to-Wall Transition Programming with Real Constraints

QIAN JINWU, LUO YI, ZHANG YANAN, WU HUIXING, SHEN YAOZONG   

  1. Shanghai University, Shanghai 201800
  • Received:1997-04-04 Revised:1998-04-08 Online:1999-03-31 Published:1999-03-31

PDF

64

被引次数

13

摘要： 探讨了三自由度新型足掌机构实际约束的特殊性,提出了简化过渡运动规划建模"假想拆掌法"和"虚拟面"概念和方法.对规划目标和影响因素进行了一定的分析.通过实际算例的计算机仿真,验证了椭圆轨迹交替三足过渡步态行走策略的可行性.

关键词: 步行机器人, 步态规划, 地壁过渡, 实际约束

Abstract: The ground -to-wall transition programming of a multi-legged robot with actual constraints is more complicated than that with ideal constraints. After discussing the specific characteristics of actual constraints for a newly-developed leg -pad mechanism with three degrees of freedom, the so-called "virtual pad removal" and "virtual surface" concepts are proposed in order to simplify transition gait programming, and the goal function and influencing factors are discussed. By means of computer simulation of an actual example, the feasibility of transition motion strategy of alternating tripod gait with the robot's body centerpoint moving along elliptic trajectory is verified.

Key words: ground-wall transition, legged robot, gait programming, actual constraints