全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

液压驱动六足机器人步行腿性能

, PP. 1512-1518

Keywords: 自动控制技术,六足机器人,液压驱动,步行腿,性能测试

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对所设计的一种基于液压驱动的六足机器人步行腿,建立了腿部运动学模型并分析了其足端运动空间。构建了腿部性能测试系统,设计了性能测试台控制系统硬件,并开发了运动测试软件。试验结果表明:腿部单关节的运动跟踪误差和关节协调运动跟踪误差均小于1°,关节动态特性满足频率0.5Hz时幅值衰减小于-3dB,验证了步行腿性能能够满足六足机器人的运动需求。

References

[1]  Elena G, Maria A J. The evolution of robotics research[J]. Robotics and Automation, 2007, 3(10): 90-102.
[2]  Hirose S, Yoneda K, Tsukagoshi H. TITAN VII: quadruped walking and manipulating robot on a steep slope[C]∥Proceedings of the International Conference on Robotics and Automation. Albuquerque, New Mexico: IEEE, 1997: 494-500.
[3]  Waldron K J, McGhee R B. The adaptive suspension vehicle[J]. IEEE Control Systems Magazine, 1986, 6(6): 7-12.
[4]  Sugahara Y, Hosobata T, Mikuriya Y, et al. Realization of dynamic human-carrying walking by a biped locomotor[C]∥Proceedings of the International Conference on Robotics and Automation. New Orleans, USA: IEEE, 2004: 3055-3060.
[5]  Hashimoto K, Sawato T, Hayashi A, et al. Static and dynamic disturbance compensation control for a biped walking vehicle[C]∥Proceedings of the 2nd Biennial International Conference on Biomedical Robotics and Biomechatronics. Scottsdale, AZ, USA: IEEE/RAS-EMBS, 2008: 457-462.
[6]  Raibert M, Kevin B, Nelson G, et al. Bigdog, the rough-terrain quadruped robot[C]∥Proceedings of the 17th IFAC World Congress,Seoul,Korea, 2008: 10822-10825.
[7]  Wilcox B H. ATHLETE:a cargo handling and manipulation robot for the moon[J]. Journal of Field Robotics, 2007, 24(5): 421-434.
[8]  Heverly M, Matthews J, Frost M, et al. Development of the Tri-ATHLETE lunar vehicle prototype[C]∥Proceedings of the 40th Aerospace Mechanisms Symposium,USA,2010: 317-326.
[9]  Irawan A, Nonami K. Compliant walking control for hydraulic driven hexapod robot on rough terrain[J]. Journal of Robotics and Mechatronics, 2011, 23(1): 149-162.
[10]  Hodoshima R, Doi T, Fukuda Y, et al. Development of a quadruped walking robot TITAN XI for steep slope operation[J]. Journal of Robotics and Mechatronics, 2007, 19(1): 13-19.
[11]  Semini C, Tsagarakis N G, Guglielmino E. Design of HyQ—a hydraulically and electrically actuated quadruped robot[J]. Journal of Systems and Control Engineering,2011, 225(6): 831-849.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133