Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing  

作　　者：Zhi-Jun Chen Feng Gao Yang Pan 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University [2]Shanghai GQY Robot Limited Company

出　　处：《Chinese Journal of Mechanical Engineering》2017年第5期1227-1238,共12页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.U1613208,51335007);National Basic Research Program of China(973 Program,Grant No.2013CB035501);Science Fund for Creative Research Groups of the National Natural Science Foundation of China(Grant No.51421092);Science and Technology Commission of Shanghai-based ‘‘Innovation Action Plan’’ Project(Grant No.16DZ1201001)

摘　　要：Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and imple- mented to the six-parallel-legged robot. The kinematic model of the six-parallel-legged robot is established and the model of measuring the positional relationship between the robot and the door is proposed. The measurement model is completely based on only force sensing. The real- time trajectory planning method and the control strategy are designed. The trajectory planning method allows the maximum angle between the sagittal axis of the robot body and the normal line of the door plane to be 45°. A 0-DOF tool mounted to the robot body is applied to operate. By integrating with the body, the tool has 6 DOFs and enough workspace to operate. The loose grasp achieved by the tool helps release the inner force in the tool. Experiments are carried out to validate the method. The results show that the method is effective and robust in opening doors wider than 1 m. This paper proposes a novel door-opening method for six-legged robots, which notably uses a O-DOF tool and only force sensing to detect and open the door.Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and imple- mented to the six-parallel-legged robot. The kinematic model of the six-parallel-legged robot is established and the model of measuring the positional relationship between the robot and the door is proposed. The measurement model is completely based on only force sensing. The real- time trajectory planning method and the control strategy are designed. The trajectory planning method allows the maximum angle between the sagittal axis of the robot body and the normal line of the door plane to be 45°. A 0-DOF tool mounted to the robot body is applied to operate. By integrating with the body, the tool has 6 DOFs and enough workspace to operate. The loose grasp achieved by the tool helps release the inner force in the tool. Experiments are carried out to validate the method. The results show that the method is effective and robust in opening doors wider than 1 m. This paper proposes a novel door-opening method for six-legged robots, which notably uses a O-DOF tool and only force sensing to detect and open the door.

关 键 词：Door-opening·Six-legged robots· Forcesensing · O-DOF tool 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U491.62[自动化与计算机技术—控制科学与工程]