适合航行的六足仿生机器人Spider的研制  

Development of navigable hexapod biomimetic robot Spider

作　　者：陈甫[1] 臧希喆[1] 闫继宏[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《吉林大学学报（工学版）》2011年第3期765-770,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2006AA04Z245);长江学者和创新团队发展计划项目(IRT0423)

摘　　要：研制了一种新型六足仿生机器人Spider,应用于复杂地形环境中的自主步行。设计了具有全方位移动能力的机器人本体结构,并基于灵活度评价函数对结构参数进行了优化;以ARM芯片为主控制器、FPGA芯片为协控制器构建了机器人硬件控制系统;实现了一种基于功能-行为集成的步行控制器,用于生成静态稳定的自由步态。仿真和实验结果验证了六足机器人的崎岖地形全方位自适应步行能力。A novel hexapod biomimetic robot named Spider is fabricated for autonomous navigation under complicated terrain conditions. The mechanical configuration of the robot with capability of omnidirectional locomotion was designed, and the structure parameters were optimized according to the estimation function of mobility;the hardware control system of the robot was constructed in which a ARM chip was used as central controller and a FPGA chip was employed as coprocessor; a walking controller was realized based on function-behavior-integration, which was employed to generate statically stable free gait. In the simulations and experiments, the ability of adaptive omnidirectionwalking on irregular terrain of the hexapod robot were testified.

关 键 词：自动控制技术 工程仿生学 六足机器人 崎岖地形步行 自由步态 腿间相序 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]