[1]陶卫军,冯虎田,余联庆.四足马机器人静步行稳定性实时检测与自调整方法[J].南京理工大学学报(自然科学版),2011,(06):791-796.
 TAO Wei-jun,FENG Hu-tian,YU Lian-qing.Real-time Detection and Self-adjusting Method on Static Walking Stability of Quadruped Horse Robot[J].Journal of Nanjing University of Science and Technology,2011,(06):791-796.
点击复制

四足马机器人静步行稳定性实时检测与自调整方法
分享到:

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2011年06期
页码:
791-796
栏目:
出版日期:
2011-12-31

文章信息/Info

Title:
Real-time Detection and Self-adjusting Method on Static Walking Stability of Quadruped Horse Robot
作者:
陶卫军1冯虎田1余联庆2
1. 南京理工大学机械工程学院,江苏南京210094; 2. 武汉纺织大学机电工程学院,湖北武汉430073
Author(s):
TAO Wei-jun1FENG Hu-tian1YU Lian-qing2
1. School of Mechanical Engineering,NUST,Nanjing 210094,China; 2. College of Electromechanical Engineering,Wuhan Textile University,Wuhan 430073,China
关键词:
四足马机器人 静步行 稳定性 压力中心 实时检测 模糊推论
Keywords:
quadruped horse robots static walking stability center of pressure real-time detection fuzzy reference
分类号:
TP242
摘要:
针对四足马机器人静步行中的的稳定性问题,提出了一种基于压力中心的实时检测方 法。得到了静步行稳定性的定量化计算方法。基于检测到的稳定度和压力中心,提出了采用模 糊推论实现静步行中的步行稳定性自调整的方法。自制小型四足马机器人,并进行了不同地面 的静步行实验。结果证明所提方法能实现四足马机器人的静步行稳定性检测与自调整功能,并 能有效提高四足马机器人静步行的稳定性。
Abstract:
Aiming at the walking stability of static walking for quadruped horse robots,a real time detection method based on the center of pressure is proposed. A quantitative calculation of the walking stability is conducted. A method to realize the self-adjusting of the robot’s static walking stability by using the fuzzy reference is proposed based on the detected stability and the center of pressure. A mini quadruped horse robot is self-made and static walking experiments are done on different grounds. Experimental results show that the proposed method can realize the static walking stability detection and self-adjusting, and can improve the static walking stability of a quadruped horse robot.

参考文献/References:

[1] Kimura H,Fukuoka Y. Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts [J ]. International Journal of Robotics Research, 2007, 26( 5) : 475-490.
[2] Maufroy C,Nishikawa T,Kimura H. Stable dynamic walking of a quadruped robot“Kotetsu”using phase modulations based on leg loading /unloading[A]. IEEE International Conference on Robotics and Automation [C]. Alaska,USA: IEEE, 2010: 5225-5230.
[3] Buehler M,Battaglia R,Cocosco A, et al. Scout: A simple quadruped robot that walks,climbs and runs[A]. Proc IEEE Int Conf,Robotics and Automation[C]. Leuven, Belgium: IEEE, 1998: 1707-1712.
[4] Battaglia R. Design and control of a four-legged robot: SCOUTⅡ[M]. Montreal,Quebec,Canada: Department of Mechanical Engineering,McGill University, 1999.
[5] Buehler M,Playter R,Railbert M. Robots step outside [A]. 3rd International Symposium on Adaptive Motion in Animals and Machines[C]. Ilmenau,Germany: Technische Universitat, 2005.
[6] Raibert M,Blankespoor K,Nelson G, et al. BigDog, the rough-terrain quadruped robot[A]. Proceedings of the 17th World Congress of the International Federation of Automatic Control [C]. Seoul,Korea: International Federation of Automatic Control, 2008: 10822-10825.
[7] 何冬青,马培荪. 四足机器人动态步行仿真及步行稳 定性分析[J]. 计算机仿真, 2005, 22( 2) : 146-149.
[8] 陈学东,郭鸿勋,渡边桂吾. 四足机器人爬行步态的正 运动学分析[J]. 机械工程学报, 2003, 39( 2) : 8-12.
[9] 王新杰,李培根,陈学东,等. 四足步行机器人关节 位姿和稳定性研究[J]. 中国机械工程,2005, 16( 17) : 1561-1566.
[10] Papadopoulos E G,Rey D A. New measure of tipover stability margin for mobile manipulators[A]. IEEE International Conference on Robotics and Automation [C]. Minneapolis,MN,USA: IEEE, 1996: 3111-3116.
[11] Messuri D A,Klein C A. Automatic body regulation for maintaining stability of a legged vehicle during roughterrain locomotion[J]. IEEE Journal of Robotics And Automation, 1985,RA-1( 3) : 45-50.
[12] Ghasempoor A,Sepchiri N. A measure of machine stability for moving base manipilators[A]. IEEE International Conference on Robotics and Automation[C]. Nagoya, Japan: IEEE, 1995: 2249-2254.
[13] Goswami A. Postural stability of biped robots and the foot-rotation indicator ( FRI ) point[J]. International Journal of Robotics Research, 1999, 18( 6) : 523-533.
[14] 诸静. 模糊控制原理与应用[M]. 北京: 机械工业出 版社, 2005.

备注/Memo

备注/Memo:
作者简介: 陶卫军( 1975-) ,男,博士,主要研究方向: 机器人技术、机电测控系统设计,E-mail: taoweijun01@163. com。
更新日期/Last Update: 2012-10-25