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通过使用振荡模式来适应四足机器人的步行控制.

Yong Zhang1, Yijia Qian2, Yi Ding2

  • 1School of Automation and Electrical Engineering, Zhejiang University of Science and Technology, Hangzhou, China. zhangy@zust.edu.cn.

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概括

本研究介绍了一种新的双层中央模式生成器 (CPG) 用于四足机器人,提高了复杂环境中的适应性. 该系统使用陀螺仪和超声波传感器实现了稳定的机动和无的步态过渡.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统 控制系统
  • 生物启发工程 生物启发工程

背景情况:

  • 四肢机器人需要先进的机车系统,以便在各种环境中适应.
  • 现有的系统往往难以在不规则的表面上实现无的步态转变和稳定的运动.

研究的目的:

  • 为四足机器人提出一种适应性机车系统,使用双层中央模式发生器 (CPG).
  • 为了提高机器人的适应性,实现无的步态切换,并在复杂的地形上实现稳定的运动.

主要方法:

  • 开发了一种具有双主和奴隶单元的新型CPG网络,利用陀螺仪 (yaw,pitch) 和超声波传感器数据.
  • 主单位控制第一个关节;奴隶单位为第二个和第三个关节生成对称信号.
  • 实施了对转向行为的参数调整,并定义了适应性不规则表面运动的稳定角度范围.

主要成果:

  • 双层CPG网络可方便在机车行走路径之间无切换,包括停止和启动.
  • 该系统允许通过关节角度调整来控制方向盘的行为.
  • 实验结果表明,在复杂的环境中,稳定的旋转模式验证了系统的有效性.

结论:

  • 拟议的双层CPG系统显著提高了四足机器人在多种场景中的适应性.
  • 陀螺仪和超声波传感器的集成使得可靠的控制和稳定的运动.
  • 这种方法为先进的机器人机车在具有挑战性的地形上提供了一个有希望的解决方案.