湿吸仿生爬壁机器人分层控制系统  

Control System Design and Realization of Wet Adhesion Wall-climbing Bio-robot

作　　者：何斌[1] 周艳敏[1] 黎明和[1] 秦海燕[1] 

机构地区：[1]同济大学电子与信息工程学院,上海200092

出　　处：《同济大学学报（自然科学版）》2010年第12期1813-1817,1827,共6页Journal of Tongji University:Natural Science

基　　金：国家自然科学基金资助项目(50405045);国家"863"高技术研究发展计划资助项目(2007AA04Z253)

摘　　要：湿吸原理的六足机器人具有结构相对复杂,控制输出多,动作协调困难等特点.基于仿生学原理,提出一种基于这种爬壁机器人的多层控制系统,提出系统设计方案,并对系统设计进行实验验证.根据Saridis的分级递阶智能控制思想理论,结合实际控制要求,提出了适合湿吸仿生爬壁机器人的独特的分层控制系统,并且从控制理论的角度详细介绍了该类系统各层次的设计要求及实现方法.实验结果表明,该控制系统设计不仅能够满足机器人爬壁行走的控制要求,而且能控制机器人肢节末端良好的与壁面接触,节律运动执行速度快,多层次模块化的设计有利于控制系统的进一步扩展.Hexapod wall-climbing bio-robot based on wet adhesion principle is characterized by a complex structure with more control outputs and being more difficlt to coordinate the action.Based on bionic principles,a hierarchical control system and its design were proposed,the design was verified with experiments.Based on Saridis＇ hierarchical intelligent control theory in combination with pratical control requirements,a special hierarchical control system suitable for this wet adhesion wall-climbing robot was established;then,control levels of this robot were precisely introduced,and designs of main levels were analyzed.Experiment results show that this system can meet the wall-climbing control requirements of the robots,and it can also control a good contact between the robot＇s limb ends and the climbing surface.Further more,rhythmic motion offers faster action implementations,and the hierarchical modular design is conducive to the further expansion of the robot＇s control system.

关 键 词：爬壁机器人 阻抗控制 节律控制 三角步态 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]