基于三维力反馈的仿壁虎机器人单腿运动控制  

One-leg motion control of gecko robot based on three-dimensional force feedback

作　　者：俞志伟[1] 宫俊[1,2] 张昊[1] 戴振东[1] 

机构地区：[1]南京航空航天大学仿生结构与材料防护研究所,南京210016 [2]南京航空航天大学自动化学院,南京210016

出　　处：《仪器仪表学报》2011年第12期2674-2680,共7页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(60910007;51105201);中国博士后科学基金(20100471339);南京航空航天大学基本科研业务费专项科研项目(NS2010223);南京航空航天大学引进人才科研启动基金(S0913-GXY)资助项目

摘　　要：分析了仿壁虎机器人机构,建立机器人单腿的运动学模型,并通过代数法求逆解。静态标定三维力传感器并计算分析了传感器解耦矩阵,设计了力信号放大和滤波电路。建立足端黏附材料的弹簧模型,采用增量式关节运动方式,设计了足端三维力反馈控制算法。在Quanser的半实物仿真平台上验证了三维力反馈控制算法。实验表明仿壁虎机器人对足端三维力控制性能良好,三维力反馈控制算法可行,为具有力感知的仿壁虎机器人实现爬壁运动奠定了实验基础。The mechanical structure of gecko inspired robot is analyzed; a one-leg kinematics model of the robot is built and the kinematic inverse solution is derived using algebraic method. The three-dimensional force sensor is stat- ically calibrated, the decoupling matrix of the sensor is calculated and the force-signal amplification circuit is designed. A spring model of the adhesive material on the robot foot is built. Using incremental joint rotating method, a 3-D force feedback algorithm for the gecko robot is designed and is verified on Quanser hardware-in-the-loop （ H. 1. L. ） system. Experimental study indicates that the gecko robot can control the force between its foot and wall stably, the 3-D force feedback algorithm is reasonable, which places an experimental groundwork for wall climbing move-ment of the gecko robot with force perception ability.

关 键 词：仿壁虎机器人 三维力反馈 运动控制 半实物仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]