RRRobot的非完整运动规划  

Nonholonomic kinematic plan for RRRobot

作　　者：张子光[1] 戈新生[2] 

机构地区：[1]北京机械工业学院机械工程系,北京100085 [2]北京机械工业学院基础部,北京100085

出　　处：《北京机械工业学院学报》2006年第4期1-4,共4页Journal of Beijing Institute of Machinery

基　　金：国家自然科学基金资助项目(10372014)

摘　　要：六足机器人RHex(Hexapod Robot)在平坦的地形上具有良好的运动性能,但在崎岖的地形上运动时,可能会被困住而无法运动。利用机器人腿的摆动可以克服和摆脱这种困境。为此,将六足机器人模型简化为RRRobot(Rocking and Rolling Robot)模型,在系统角动量为零的情况下,动力学方程降阶为非完整形式运动学方程。系统的运动控制问题可转化为无漂移系统的非完整运动规划问题。通过对腿的摆动设计从而使机器人本体达到转动的期望位置。数值仿真结果表明该运动规划对转动模型机器人是有效的。Legged robot RHex（Hexapod Robot）offers flat terrain mobility, but sometimes its locomotion may fail in tough terrain. It can disengage such situation by wiggling its legs. RRRobot （Rocking and Rolling Robot）is the simplification of high -centered RHex. In the condition that the system angular momentum is zero, the dynamic equation can be reduced to be a nonholonomic kinematic equation. The control of system can be converted to the motion planning problem for a driftless system. The body of RRRobot can be turned to the expected position by planning the legs wiggle. The results of numeral simulation illustrates that this locomotion plan for yaw model RRRobot is effective.

关 键 词：RRRobot 非完整约束 运动规划 

分 类 号：TH113.2[机械工程—机械设计及理论]