位置：成果数据库 > 期刊 > 期刊详情页
四足机器人砂砾地面对角行走控制方法
  • ISSN号：1672-545X
  • 期刊名称：装备制造技术
  • 时间：2014
  • 页码：8-12
  • 分类：TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]华中科技大学数字制造装备与技术国家重点实验室,湖北武汉430074
  • 相关基金：国家自然科学基金面上项目（编号：61175907）;高等学校博士学科点专项科研基金（编号：20130142110081）;国家自然科学基金创新研究群体科学基金（编号：51121002）资助.
  • 相关项目：复杂扰动环境下四足仿生机器人动态运动规划和控制研究
作者： 程品|罗欣|顾瀚戈|
关键词： 四足机器人, 对角行走, 阻抗控制, 砂砾地面, quadruped robot, trot, impedance control, gravel ground
中文摘要：

为解决四足机器人在砂砾地面上对角行走容易失稳的问题,提高机器人对松软和凹凸不平地面的适应性,在位置控制的基础上提出了一种机身姿态角的调整策略,并在机器人对角行走的过程中采取了一种变阻抗参数的阻抗控制方法.最后在实际的砂砾地面进行了四足机器人对角行走实验,实验结果证明这种控制方法和调整策略对于四足机器人对角行走在砂砾地面上具有较好的控制效果.

英文摘要：

To meet the demand of quadruped robot trotting on the gravel ground stability, improve the adaptability of the robot to the soft and uneven terrain . The adjustment strategy of attitude angles is proposed based on the position control, and take a variable impedance parameters of impedance control method in the robot trotting process. Finally, the experiment of the robot trotting on the actual gravel ground is accomplished, experimental results show that this control method and adjustment strategy for quadruped robot trotting on the gravel ground has good control effect.

同期刊论文项目
复杂扰动环境下四足仿生机器人动态运动规划和控制研究
期刊论文 8 会议论文 4
高性能数字制造装备的基础研究
期刊论文 128 会议论文 5 获奖 11 专利 12 著作 2
同项目期刊论文
A bioinspired touching sensor for amphibious mobile robots
足式机器人单腿跳跃仿真与实验
Hybrid control for SLIP-based robots running on unknown rough terrain
Synthesis of Thinned Concentric Circular Antenna Arrays Using Modified TLBO Algorithm
弹簧-负载倒立摆系统三维动态平衡控制仿真研究
六足机器人斜坡步态的设计
Virtual Constraint Based Control of Bounding Gait of Quadruped Robots
Cascadic multigrid algorithm for robust inverse mask synthesis in optical lithography
Robust feedback zoom tracking for digital video surveillance.
A hybrid genetic algorithm and tabu search for a multi - objective dynamic job shop scheduling probl
Inverse compensation for hysteresis in piezoelectric actuator using an asymmetric rate-dependent mod
A study of dental 3d points cloud measurement system based on grating projection
Molecular orientation transformation of pentacene on amorphous SiO2: A computational study on the in
Disassembly sequence planning using a Simplified Teaching-Learning-Based Optimization algorithm
A friction identification approach based on dual-relay feedback configuration with application to an
高速无刷直流电机无传感器控制
<span>Feedforward compensation in vibration isolation system subject to base disturbance</s
铣削过程稳定性分析的时域法研究进展
Convolution-variation separation method for efficient modeling of optical lithography.
A study on the dynamic characteristics of the drive at center of gravity ( DCG ) feed drives
Discrete electromagnetism-like mechanism algorithm for assembly sequences planning
A new approach for predicting and collaborative evaluating the cutting force in face milling based o
The Effect of Substrate on Continuous Electrohydrodynamic Printing
A case study of blade inspection based on optical scanning method
Semi-global consensus of nonlinear second- order multiagent systems with measurement output feedback
A seam-tracking laser welding platform with 3D and 2D visual information fusion vision sensor system
Applications of Collective Circular Motion Control to Multirobot Systems
A thermo-mechanical model of dry orthogonal cutting and its experimental validation through embedded
计及关节属性的6轴工业机器人反解算法
A measurement strategy and an error-compensation model for the on-machine laser measurement of large
<span>An Improved Genetic Algorithm for Single-Machine Inverse Scheduling Problem</span>
Experimental Investigation of Hard Turning Mechanisms by PCBN Tooling Embedded Micro Thin Film Therm
Compensation of hysteresis in piezoelectric actuators without dynamics modeling
Estimation of CNC machine–tool dynamic parameters based on random cutting excitation through operati
Optimization of cutting conditions of YG15 on rough and finish cutting in WEDM based on statistical
A new approach to identifying the dynamic behavior of CNC machine tools with respect to different wo
<span>Research on eco-balance with LCA and LCC for mechanical product design</span>
Generic vibration criteria–based dual-chamber pneumatic spring vibration isolation table design
Self-Sensing Precision Stage: Design, Modeling, Calibration, and Hysteresis Compensation
Thinning and weighting of planar arrays by modified teaching–learning-based optimization algorithm
惯性稳定平台载体扰动抑制算法研究
数字化智能排绳器的设计
Adaptive Active Chatter Control in Milling Processes
Parameter optimization of Nd:Yag laser scribing process on core loss of grain-oriented magnetic sili
Reliability Analysis and Accelerated Statistical Model of CNC PCB for Electrochemical Migration
Electrohydrodynamic direct-writing
Humidity threshold model of numerical control multilayer printed circuit board for electrochemical m
A piezoelectric spring-mass system as a low-frequency energy harvester.
A Study of Force and Position Tracking Control for Robot Contact with an Arbitrarily Inclined Plane
Tunable bead - on - string microstructures fabricated by mechano - electrospinning
Compliant joint design and flexure finger dynamic analysis using an equivalent pin model
Dynamic characteristics of ultra-precision aerostatic bearings
Modeling and controlling of surface micro-topography feature in micro-ball-end milling
The multi-objective optimization of medium-speed WEDM process parameters for machining SKD11 steel b
Multi-Objective Optimization of 3D-Surface Topography of Machining YG15 in WEDM
Analysis and experiment of a vibration isolator using a novel magnetic spring with negative stiffnes
Analysis of Joint Connectivity Condition for Multiagents With Boundary Constraints.
Complete discretization scheme for milling stability prediction
On time-domain methods for milling stability analysis
驱动与控制高速无刷直流电机无传感器控制
柔性流水车间调度模型与混合引力算法
水下自航行器近海底处水动力性能分析
水下滑翔器整体外形设计及水动力性能分析
水下自航行器外形及水动力性能优化
基于Memetic算法的有限缓冲区流水车间调度问题
基于候鸟优化算法的阻塞流水车间调度问题
期刊信息
  • 《装备制造技术》
  • 主管单位:广西壮族自治区工业和信息化委员会
  • 主办单位:广西机械工程学会
  • 主编：梁建和
  • 地址：广西南宁市民主路17号
  • 邮编：530023
  • 邮箱：zbzzjs@163.com
  • 电话：0771－5602985 5876281
  • 国际标准刊号：ISSN：1672-545X
  • 国内统一刊号：ISSN：45-1320/TH
  • 邮发代号:
  • 获奖情况:
  • 国内外数据库收录:
  • 被引量:10485