腰部调整对仿猫机器人跳跃轨迹的作用分析

陈贵亮; 张笑颜; 杨冬; 庄昌瑞; 黄荣新; 李铁军

doi:10.13433/j.cnki.1003-8728.20190208

腰部调整对仿猫机器人跳跃轨迹的作用分析

doi: 10.13433/j.cnki.1003-8728.20190208

河北工业大学机械工程学院，天津　300130

详细信息

作者简介:
陈贵亮（1965−），高级工程师，博士，研究方向为服务型机器人，仿生机器人，guiliang_chen@sina.com

通讯作者:
杨冬，讲师，博士，88292946@qq.com

中图分类号: TP242
计量
- 文章访问数: 340
- HTML全文浏览量: 153
- PDF下载量: 25
- 被引次数: 0
出版历程
- 收稿日期: 2019-05-11
- 网络出版日期: 2020-08-26
- 刊出日期: 2020-08-05

Analysis of Effect of Waist Adjustment on Jumping Trajectory of Cat-like Robot

School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China

摘要

摘要: 猫是一种灵巧擅长跳跃的动物，分析猫的跳跃，有助于启发改善跳跃机器人的机构，提高机器人跳跃灵活性。以家猫作为模本，提出了有腰部结构的仿猫机构模型，研制出仿猫机器人，利用动量守恒和拉格朗日方程，建立了机器人空中动力学模型。最后令机器人模仿一家猫跳跃过程中的腰部运动，观察机器人在空中不同情况下后脚尖的运动轨迹，得出结论机器人在空中的利用腰部进行姿态调整可以增加机器人越障高度，为机器人应对突发状况提供参考。
- 机器人 /
- 姿态调整 /
- 动量守恒 /
- 运动轨迹
Abstract: A domestic cat is an animal that is good at jumping. The analysis of the jumping of the domestic cat helps to inspire the mechanism of the hopping robot and improve the flexibility of the robot jumping. Taking the domestic cat as a model, a model for cat-like mechanism with a waist structure was proposed, a cat-like robot was developed, and a robotic aerial dynamics model was established by using momentum conservation and Lagrange equation. Finally, the robot follows the waist movement of a cat jumping process to observe the motion trajectory of the hind-toe of the robot in different situations in the air. It is concluded that the robot′s attitude adjustment by using the waist in the air allows the robot to cross higher obstacles, providing a reference for the robot to respond to emergencies.
- robot /
- attitude control /
- momentum conservation /
- motion trajectory

HTML全文

图 1 猫的骨骼结构

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图 2 仿猫跳跃机器人简化机构模型

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图 3 仿猫机器人结构图

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图 4 仿猫机器人的起跳机构姿态

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图 5 $\theta_ m$实际与仿真对比图

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图 6 $\theta_ t$实际与仿真对比图

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图 7 仿真轨迹与机器人位姿

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