多运动模式的小型地面移动机器人设计与实现  

Design and Implementation of a Small Ground Mobile Robot with Multi-locomotion Modes

作　　者：段星光[1] 黄强[1] 李京涛[1] 张明路[2] 

机构地区：[1]北京理工大学,北京100081 [2]河北工业大学,天津300130

出　　处：《中国机械工程》2007年第1期8-12,共5页China Mechanical Engineering

基　　金：国家863高技术研究发展计划资助项目(2002AA420110)

摘　　要：设计了一种可以在复杂环境下运动,并具有多种运动模式的小型地面移动机器人。该机器人所具有的轮式、履带式和腿式等多种运动模式可以提高其环境适应能力和越障能力。研究开发的样机采用了ARM+DSP结构的嵌入式控制系统以及遥控/半自主的工作方式,具有高机动性、小型化、轻量化、可复位以及低功耗、高实时性等特点。通过爬越台阶、楼梯等越障实验,验证了其越障能力和环境适应能力。A small ground mobile robot with multi-locomotion modes was presented, that can maneuver in both indoor and outdoor environments in different locomotion modes such as wheeled mode, tracked mode, and legged mode etc. , which made the robot has higher capability of negotiating obstacles and more adaptive to the environment change. To validate the concept, the first prototype was developed that adopted the embedded control system with ARM＋DSP structure and worked in the semi-autonomy method. The robot has the characteristics of high mobility, small size, light weight and posture-recovering. Its capability and effectiveness is tested by experiments such as climbing stairs, traversing steps etc.

关 键 词：移动机器人 多运动模式 越障能力 嵌入式系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]