基于样条插值的仿壁虎机器人足端脱附轨迹规划  

Conglutination and desorption trajectory planning method for gecko-inspired robot footend based on spline interpolation

作　　者：孙功勋 俞志伟[1] 沈丹妮[1] 吴加明 汪中原 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,江苏南京210016 [2]南京航空航天大学自动化学院,江苏南京210016 [3]华为软件技术有限公司,江苏南京210012

出　　处：《现代电子技术》2015年第16期9-12,共4页Modern Electronics Technique

基　　金：国家自然科学基金项目(51475230;51435008);物联网与机器人技术合作项目(YBIN2011059)

摘　　要：针对仿壁虎机器人足端粘附脱附运动,提出了Spline三次样条插值与Matlab/Simulink半实物仿真相结合的足端轨迹生成及优化的方法。合理选取关键节点,利用三次样条插值,可快速得到所需复杂的光滑轨迹曲线。设计了测试平台并进行半实物仿真,通过分析数据采集卡采集的脱附力的变化趋势,并合理调整三次样条插值数据节点,优化脱附轨迹及其法向力与切向力,使仿壁虎机器人单足脱附过程切向力和法向力保持在较小范围。验证了该方法在单腿运动轨迹生成中的有效性和可行性,为四足步态生成与爬壁实验奠定基础。To plan conglutination and desorption trajectory of gecko-inspired robot, a method to generate and optimize the foot-end trajectory combining cubic spline interpolation with Matlab/Simulink semi-physical simulation is proposed. With proper selection of key node and cubic spline interpolation, the needed complex and smooth trajectory curve can be obtained. A testing platform was designed to carry out the semi-physical simulation. With the analysis on the change trend of the desorption force collected by data acquisition card and reasonable adjustment of cubic spline interpolation data nodes, the desorption trajectory, normal and tangential forces were optimized, which made the normal and tangential forces in the single-foot desorption process of the gecko-inspired robot to be kept in small range. Experimental result shows the reliability and efficiency of this method in the single-leg moving trajectory generation. The optimized trajectory can be applied in the gait planning and wall-climbing of gecko-inspired robot in the future.

关 键 词：仿壁虎机器人 足端轨迹规划 样条插值 SimMechanics仿真 

分 类 号：TN409-34[电子电信—微电子学与固体电子学]