轮腿式机器人步态生成的拓扑矩阵方法

doi:10.3901/JME.2017.21.001

机械工程学报 ›› 2017, Vol. 53 ›› Issue (21): 1-8.doi: 10.3901/JME.2017.21.001

• 核电救灾机器人专栏 • 下一篇

扫码分享

轮腿式机器人步态生成的拓扑矩阵方法

郭为忠, 汤耘, 高峰

上海交通大学机械系统与振动国家重点实验室上海 200240

收稿日期:2017-01-30 修回日期:2017-07-24 出版日期:2017-11-05 发布日期:2017-11-05
作者简介:汤耘,男,1990年出生,硕士。主要研究方向为步行机器人运动规划。E-mail:1007905072@qq.com;高峰,男,1956年生,教授,博士研究生导师。主要研究方向为并联机器人及应用。E-mail:fengg@sjtu.edu.cn
基金资助:
国家自然科学基金（51275284，51323005）和国家重点基础研究发展计划（973计划，2013CB035501）资助项目。

Topology Matrix Method for Gait Generation of Wheel-legged Robots

GUO Weizhong, TANG Yun, GAO Feng

State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240

Received:2017-01-30 Revised:2017-07-24 Online:2017-11-05 Published:2017-11-05
Contact: 郭为忠(通信作者),男,1970年出生,教授,博士研究生导师。主要研究方向为现代机构学与并联机构学。E-mail:wzguo@sjtu.edu.cn

摘要/Abstract

摘要： 为实现机器人在核电救灾等非结构化环境中的步态规划和自适应行走，以六足轮腿式机器人为研究对象提出基于当前地形的机器人自适应在线生成步态的规划策略，通过全局地形环境中机器人对前进方向局部地形的实时识别，确定其基本地形类型，产生相应的基本步态，动态生成机器人的步态序列。定义机器人触地状态及其列矢量表达，给出机器人步态因子的分类及其拓扑矩阵；定义基本地形及相应的基本步态，给出基本步态的拓扑矩阵；在此基础上，提出基于地形识别的步态拓扑规划策略和步态拓扑矩阵生成流程，通过矩阵递推算法实现机器人步态拓扑的动态生成。

关键词: 步态拓扑, 步态因子, 基本步态, 基本地形, 轮腿式机器人

Abstract: To perform adaptive gait planning and automatic walking in unstructured environment such as the nuclear power plant rescue, a six wheel-legged robot is applied in order to put forward a planning strategy of adaptive robot gait generation based on current terrain. The local terrain ahead of the robot walking in a global environment is identified on-line that determines the type of the elemental terrain and then the corresponding elemental gait forming the gait sequence dynamically. The definition of robot touchdown state is given following its vector expression, and the gait unit is defined using touchdown state and classified with topology matrix expressions. The elemental terrains and the corresponding elemental gaits are proposed with matrix expressions. The gait topology matrix generation procedure is put forward based on terrain recognition that realizes dynamic generation of the robot's gait topology matrix via a recursive algorithm.

Key words: elemental gait, elemental terrain, gait topology, gait unit, wheel-legged robot

中图分类号:

TP242

郭为忠, 汤耘, 高峰. 轮腿式机器人步态生成的拓扑矩阵方法[J]. 机械工程学报, 2017, 53(21): 1-8.

GUO Weizhong, TANG Yun, GAO Feng. Topology Matrix Method for Gait Generation of Wheel-legged Robots[J]. Journal of Mechanical Engineering, 2017, 53(21): 1-8.

参考文献

[1] 刘青松,张一心,向文元,等. 核电站机器人技术应用现状及发展趋势[J]. 机器人技术与应用, 2011(3):12-16. LIU Qingsong, ZHANG Yixin, XIANG Wenyuan, et al. Technology status and development trend of nuclear power plant robots[J]. Robot Technique and Application, 2011(3):12-16.
[2] 刘静,赵晓光,谭民. 腿式机器人的研究综述[J]. 机器人, 2006, 28(1):81-88. LIU Jing, ZHAO Xiaoguang, TAN Min. Legged robots:A review[J]. Robot, 2006, 28(1):81-88.
[3] 井超超. 轮式机器人运动系统设计与研究[D]. 西安:西安电子科技大学, 2012. JING Chaochao. The design and research of motion control system of wheeled robots[D]. Xi'an:Xidian University, 2012.
[4] 陈学东,孙栩,贾文川. 多足步行机器人运动规划与控制[M]. 武汉:华中科技大学出版社, 2006. CHEN Xuedong, SUN Xu, JIA Wenchuan. Motion planning and control of multilegged walking robots[M]. Wuhan:Huazhong University of Science and Technology Press, 2006.
[5] 李珺. 多足机器人步态规划及自适应控制研究[D]. 沈阳:东北大学, 2011. LI Jun. Research on gait planning and adaptive control for multi-legged robot[D]. Shenyang:Northeastern University, 2011.
[6] Mc GHEE R B, FRANK A A. On the stability properties of quadruped creeping gaits[J]. Mathematical Biosciences, 1968, 3:331-351.
[7] 尹晓琳. 六足仿生机器人步态规划及其控制策略研究[D]. 哈尔滨:哈尔滨工业大学, 2013. YIN Xiaolin. Research on gait planning and control strategy for biomimetic hexapod robot[D]. Harbin:Harbin Institute of Technology, 2013.
[8] 李文正. 六足仿生机器人步态规划与控制系统研究[D]. 济南:山东大学, 2011. LI Wenzheng. Research on gait planning and control system of hexapod biomimetic robot[D]. Jinan:Shandong University, 2011.
[9] 韦素媛,宁超,高有行. 步态特征中非线性相关信息的表示方法研究[J]. 武汉理工大学学报, 2009, 31(18):147-150. WEI Suyuan, NING Chao, GAO Youxing. Gait representation with the non-linearity correlation information[J]. Journal of Wuhan University of Technology, 2009, 31(18):147-150.
[10] 杨军,吴晓娟,彭彰,等. 基于多区域分割的步态表示与识别算法研究[J]. 计算机学报, 2006, 29(10):1878-1881. YANG jun, WU Xiaojuan, PENG Zhang, et al. Gait representation and classification algorithm based on multi area segmentation[J]. Chinese Journal of Computers, 2006, 29(10):1878-1881.
[11] WANG L, TAN T N, NING H Z, et al. Silhouette analysis-based gait recognition for human identification[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2003, 25(12):1505-1518.
[12] EKINCI M. Gait recognition using multiple projections[C]//Proceedings of the 7th International Conference on Automatic Face and Gesture Recognition, 10-12 April, 2006, University of Southampton, Southampton, UK. UK:IEEE, 2006:517-522.
[13] SONG S M, WALDRON K J. Machines that walk:The adaptive suspension vehicle[M]. Cambridge:MIT Press, 1989.
[14] 柳洪义,闻邦椿,斯欧特H. 研究步态分类的一种新方法[J]. 东北工学院学报, 1993, 86:445-448. LIU Hongyi, WEN Bangchun, SCOTT H. A new method for gait classification[J]. Journal of Northeast University of Technology, 1993, 86:445-448.
[15] 马泽润,郭为忠,高峰. 一种新型轮腿式移动机器人的越障能力分析[J]. 机械设计与研究, 2015(4):6-10. MA Zerun, GUO Weizhong, GAO Feng. Analysis on obstacle negotiation of a new wheel-legged robot[J]. Machine Design and Research, 2015(4):6-10.
[16] 马泽润. 轮腿式外星探测机器人的机构设计与步态规划研究[D]. 上海:上海交通大学, 2014. MA Zerun. On mechanism design and gait planning of wheel-legged alien exploration robot[D]. Shanghai:Shanghai Jiao Tong university, 2014.

轮腿式机器人步态生成的拓扑矩阵方法

Topology Matrix Method for Gait Generation of Wheel-legged Robots

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 1

编辑推荐

Metrics

本文评价