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滚动机车上的轨迹规划球形移动张正度机器人具有多路径模式的滚动机车

Xiaodong Feng^1,2,3, Ji Xu¹, Jingyao Zhang²

¹School of Civil Engineering, Shaoxing University, Shaoxing, China.

|April 18, 2024

概括

球形延伸度机器人为极端地形提供轻量级,弹性探索. 这项研究引入了新的多模式和轨迹规划,以提高滚动机车和导航.

科学领域:

机器人技术机器人技术机器人技术
机械工程机械工程
控制系统控制系统

背景情况:

球形延伸度机器人轻量级且有弹性,非常适合探索不可预测和极端环境.
它们独特的几何结构促进了滚动的运动,使得它们具有适应性和耐损伤性.
现有的球形延伸度机器人缺乏多样化的运动步态模式,以获得最佳的路径.

研究的目的:

通过引入多种动力步行模式来增强球形移动时分机器人.
开发出与机器人固有的滚动机动能力一致的优越运动路径.
创建一个轨迹规划方法,以生成最佳的行军路线.

主要方法:

研究了三个具有多步态图案的12杆球形张形.
使用ADAMS.进行了独立和进化步态模式的动态模拟.
开发了一种轨迹规划方法,将方向盘控制与修改的快速探索随机树 (MRRT) 算法集成在一起.

主要成果:

对比单个运动步态的路由空间和盲区,以评估适用性.
引入了两种评估指标,用于选择最佳的步态模式,以适应多步态的特征.
通过对各种时分稳定性机器人原型进行模拟,验证了拟议的轨迹规划方法.

结论:

开发的轨迹规划方法是有效的,以实现球形可移动的密度机器人的最佳行进路线.
整合多路径模式和方向盘控制可以在具有挑战性的地形上增强导航能力.
这项研究提供了一种可行的方法,可以提高tensegrity机器人的移动性和任务效率.

关键词:

运动步态运动步态路由空间的路由空间方向盘控制战略方向盘控制战略十分之一的机器人机器人.轨道规划轨道规划轨道规划

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