留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

足式机器人单腿缺失故障的容错行走研究

史航 章永年 王兴盛 康敏 汪小旵

史航, 章永年, 王兴盛, 康敏, 汪小旵. 足式机器人单腿缺失故障的容错行走研究[J]. 机械科学与技术, 2018, 37(4): 525-531. doi: 10.13433/j.cnki.1003-8728.2018.0406
引用本文: 史航, 章永年, 王兴盛, 康敏, 汪小旵. 足式机器人单腿缺失故障的容错行走研究[J]. 机械科学与技术, 2018, 37(4): 525-531. doi: 10.13433/j.cnki.1003-8728.2018.0406
Shi Hang, Zhang Yongnian, Wang Xingsheng, Kang Min, Wang Xiaochan. Study on Fault Tolerant Walking of Legged Robot with Single Leg Missing[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(4): 525-531. doi: 10.13433/j.cnki.1003-8728.2018.0406
Citation: Shi Hang, Zhang Yongnian, Wang Xingsheng, Kang Min, Wang Xiaochan. Study on Fault Tolerant Walking of Legged Robot with Single Leg Missing[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(4): 525-531. doi: 10.13433/j.cnki.1003-8728.2018.0406

足式机器人单腿缺失故障的容错行走研究

doi: 10.13433/j.cnki.1003-8728.2018.0406
基金项目: 

国家自然科学基金项目(51405239)、南京农业大学青年科技创新基金项目(KJ2013042)及中央高校基本科研业务费专项资金项目(KY2201761)资助

详细信息
    作者简介:

    史航(1996-),本科,研究方向为四足仿生机器人,13814169420@163.com

    通讯作者:

    章永年,讲师,博士,hczyn@njau.edu.cn

Study on Fault Tolerant Walking of Legged Robot with Single Leg Missing

  • 摘要: 在足式机器人作业时,由于环境因素而导致腿部缺失的现象时常发生。单腿缺失的机器人按照原有的控制方式将无法继续行走甚至站立。为了提高机器人应对实际复杂环境的可持续工作能力,在无附加装置的条件下,提出一种调整后腿侧摆关节,增加稳定相的控制方法。通过对受损后的机器人进行静力学分析计算,得到机器人腿部侧摆关节旋转角度的最优解为21°。按一定梯度选取相邻系列角度值进行仿真试验对比,发现侧摆关节角度为21°时机器人的翻滚角始终在-2°~2°之间变化,并且增加稳定相后机器人的翻滚角变化幅值在16个步态周期后衰减了10.8%,从而验证了所提控制方法的有效性与正确性。
  • [1] Yang J M. Gait synthesis for hexapod robots with a locked joint failure[J]. Robotica, 2005,23(6):701-708
    [2] Yang J M. Kinematic constraints on fault-tolerant gaits for a locked joint failure[J]. Journal of Intelligent and Robotic Systems, 2006,45(4):323-342
    [3] Yang J M. Fault-tolerant crab gaits and turning gaits for a hexapod robot[J]. Robotica, 2006,24(2):269-270
    [4] Yang J M. Fault-tolerant gait planning for a hexapod robot walking over rough terrain[J]. Journal of Intelligent and Robotic Systems, 2009,54(4):613-627
    [5] Yang J M. Tripod gaits for fault tolerance of hexapod walking machines with a locked joint failure[J]. Robotics and Autonomous Systems, 2005,52(2-3):180-189
    [6] Yang J M, Kim J H. Optimal fault tolerant gait sequence of the hexapod robot with overlapping reachable areas and crab walking[J]. IEEE Transactions on Systems, Man, and Cybernetics-Part A:Systems and Humans, 1999,29(2):224-235
    [7] Yang J M. Omnidirectional walking of legged robots with a failed leg[J]. Mathematical and Computer Modelling, 2008,47(11-12):1372-1388
    [8] 潘阳.P-P结构六足机器人性能设计与控制实验研究[D].上海:上海交通大学,2014 Pan Y. Performance design and control experiment of a novel hexapod robot with P-P structure[D]. Shanghai:Shanghai Jiaotong University, 2014(in Chinese)
    [9] Asif U. Improving the navigability of a hexapod robot using a fault-tolerant adaptive gait[J]. International Journal of Advanced Robotic Systems, 2012,9(2),doi: DOI:10.5772/50604
    [10] Pan Y, Gao F, Du H. Fault tolerance criteria and walking capability analysis of a novel parallel-parallel hexapod break walking robot[J]. Robotica, 2016,34(3):619-633
    [11] 李宏凯,李志,郭朝龙,等.基于四足机器人稳定性的对角步态规划[J].机械设计,2016,33(1):64-69 Li H K, Li Z, Guo C L, et al. Gait planning of trotting based on quadruped robot's stability[J]. Journal of Machine Design, 2016,33(1):64-69(in Chinese)
    [12] Yang J M, Kwak S W, Pathak P M, et al. Enhancing stability of fault-tolerant gaits of a quadruped robot using moving appendage[C]//Proceedings of the 3rd International Conference on Circuits, Systems, Control, Signals (CSCS'12). Barcelona, Spain:CSCS, 2012:17-19
    [13] Cho C H, Min B C, Kim D H. A gait generation for an unlocked joint failure of the quadruped robot with balance weight[C]//FIRA RoboWorld Congress. Berlin, Heidelberg:Springer, 2009:251-261
    [14] Lee Y J, Hirose S. Three-legged walking for fault-tolerant locomotion of demining quadruped robots[J]. Advanced Robotics, 2002,16(5):415-426
    [15] Chen X B, Gao F, Qi C K, et al. Gait planning for a quadruped robot with one faulty actuator[J]. Chinese Journal of Mechanical Engineering, 2015,28(1):11-19
    [16] 李华师.四足机器人仿生运动控制理论与方法的研究[D].北京:北京理工大学,2014 Li H S. Biomimetic locomotion control theories and methods of quadruped robot[D]. Beijing:Beijing Institute of Technology, 2014(in Chinese)
  • 加载中
计量
  • 文章访问数:  197
  • HTML全文浏览量:  26
  • PDF下载量:  10
  • 被引次数: 0
出版历程
  • 收稿日期:  2017-05-06
  • 刊出日期:  2018-04-05

目录

    /

    返回文章
    返回