一种可载人行走的双轮机器人  

A Two-Wheeled Robot Capable of Carrying Person

作　　者：刘大亮[1] 孙汉旭[1] 贾庆轩[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机器人》2009年第5期416-420,共5页Robot

基　　金：国家自然科学基金资助项目(50775013);国家863计划资助项目(2006AA04Z243);北京市教委科技计划重点项目(KZ200810005002)

摘　　要：研制了一种具有动平衡和载人行走能力的双轮机器人样机.介绍了机器人的工作原理和机构组成,分析了机器人的动态行走特性,设计开放式控制系统,提出了由电流环、速度环和位置环组成的三回路控制策略.该机器人具有体积小、结构紧凑、安全性高的特点.实验结果表明,该机器人具有载人行走的能力,能够有效地实现机器人的动态平衡控制.A prototype of two-wheeled robot capable of achieving dynamic balance and carrying person is developed. Operation principle and mechanism structure of the robot are introduced, and its dynamic motion characteristics are analyzed. An open control system is designed, and a triple-loop control strategy, which includes current loop, velocity loop and position loop, is proposed. The robot is characterized by small size of volume, compact structure and reliable security. Experiment results show that the proposed robot has the ability to carry person, and can achieve the dynamic balance control of the robot effectively.

关 键 词：动态平衡控制 载人机器人 开放式控制系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]