基于智能空间的三肢体仿生机器人3D运动规划  

3D motion planning of a three-limbed robot for intelligent space

作　　者：赵杰[1] 庞明[1] 樊继壮[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150080

出　　处：《哈尔滨工程大学学报》2007年第3期311-315,共5页Journal of Harbin Engineering University

基　　金：国家"863"高科技研究发展计划资助项目(2001AA422250);长江学者和创新团队发展计划资助项目(IRT0423)

摘　　要：探讨了一个新颖的三肢体功能仿生机器人在智能空间中的3D运动规划和导航问题.按照实现功能提出机器人平面内运动基本步态,以此基本步态为基础,运用模糊推理得到演化步态用于实现平面间运动.融合智能空间所捕获的环境信息,建立以向量场为基本原理的模糊神经网络模型,通过学习机制训练该网络,应用于动态3D环境的导航和避障.仿真结果证明了该运动规划策略的有效性.3D motion planning and navigation of a novel three-limbed robot for intelligent space are described in this paper. The basis gaits of the robot are designed in order to be capable of walking in one plane and the evolvement gaits based on these basic gaits are planned by applying fuzzy inference rules in order to be capable of climbing in two inclined planes. Vector field based fuzzy neural network model is established to guide the robot in a 3D dynamic environment. The effectiveness of the 3D motion planning is proved by a simulation test.

关 键 词：智能空间 三肢体 机器人 运动规划 

分 类 号：TP243[自动化与计算机技术—检测技术与自动化装置]