仿生双足水上行走机器人优化设计及控制方法  

Optimization Design and Control Method of Biped Robot Running on Water

作　　者：徐林森[1,2] 魏鲜明[3] 曹凯 梅涛[1] 骆敏舟[1] 

机构地区：[1]中国科学院合肥物质科学研究院,合肥230031 [2]常州先进制造技术研究所,常州213164 [3]中国科学技术大学信息科学技术学院,合肥230026

出　　处：《机械工程学报》2014年第15期12-18,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50905175);国家重点基础研究发展计划(973计划;2011CB302106)资助项目

摘　　要：研究一种新型双足水上行走机器人推进机构及控制方法。借鉴蛇怪蜥蜴双足水上行走功能,分析双足机器人水上行走动力学机理;结合平面四杆机构运动和坐标转换公式,分析Watt-I型机构运动方程,用以模拟蛇怪蜥蜴的脚掌轨迹,设计双足水上行走机器人推进机构,建立机器人的虚拟样机模型并进行机构优化设计;设计机器人的中枢模式发生器(Central pattern generator,CPG)控制器和模糊控制器并进行参数分析,提出双足水上行走机器人的CPG-模糊控制方法,完成机器人控制系统的搭建,进行仿真验证;制作出双足水上行走样机,进行双足机器人水上行走试验,测得推进机构的作用力曲线;在平衡装置不工作和工作情况下分别测量机器人水上行走过程中的实时偏角,并进行比较。试验结果表明推进机构及控制方法满足双足机器人水上行走要求。The propulsion mechanism and the control method of a novel biped running on water are studied. The dynamics mechanism of the biped robot is studied according to the basilisk lizard＇s function of running on water. The movement trajectories of the Watt-I planar linkages are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the propulsion mechanism of the biped robot is carried out. Then the virtual prototype of the biped robot is built, and the mechanism is optimized. A CPG-fuzzy control method is proposed, and the control system of the biped robot is designed with the CPG controller and the fuzzy controller. The simulation of the control system is implemented to test its effect preliminary. The real prototype of the biped robot walking on water is carried out to test the robot＇s function of walking on water. The force of the propulsion mechanism is measured by a strain gauge mounted on the robot＇s foot. The real-time body tilting angles of the robot in the case of the balance equipment running or not are measured respectively. The experiment results show that the propulsion system can satisfy the function requirement of biped robot walking on water, and the control method is effective to keep its balance.

关 键 词：双足机器人 水上行走 优化设计 控制方法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]