八足仿蟹机器人行走稳定性分析  

Walking stability analysis of an octopod crab-like robot

作　　者：王立权[1] 王海龙[1] 陈曦[2] 许俊伟[1] 任梦轩 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《中南大学学报（自然科学版）》2014年第10期3416-3422,共7页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(60875067);黑龙江省自然科学基金重点资助(ZD200911)项目~~

摘　　要：为准确评定新型圆弧形足端结构的八足机器人行走稳定性及稳定裕量,提出1种适用于八足机器人行走稳定性判定方法。对八足机器人整体结构进行抽象简化;使用闭环矢量法获得了质心与落足点之间的相对位置关系;应用规范化能量稳定裕度(SNESM)方法对八足机器人静态稳定性进行描述,建立复杂环境下机器人静态稳定裕度的数学模型。通过数值仿真获得了机器人稳定裕度与机体质心高度及地面倾角之间的关系。稳定性实验结果表明:该方法能够准确判定八足机器人的行走稳定性。A stability judging method for octopod robot was proposed, in order to exactly evaluate the walking stability and stability margin of a new octopod robot with circular-arc knuckle structure. The structure of the octopod robot was simplified. The relative position between the centroid and touchdown point was calculated by closed-loop vector method.According to the static stability of the octopod robot which was demonstrated by the method of normalized energy stability margin（NESM）, a static stability margin mathematical model of a robot in complex conditions was given.According to the results of numerical simulation, the relationship between stability margin and the center of mass height,ground angle was proposed. Experiment based on the proposed method is carried out and the results verify that the proposed method can accurately judge the octopod robot walking stability.

关 键 词：八足机器人 规范化能量稳定裕量(NESM) 稳定裕度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]