基于Webots的蛇形机器人蜿蜒步态规划及偏移补偿  

Serpentine gait planning and offset compensation of snake-like robot inWebots

作　　者：郝晴 安康 徐颖[1] HAO Qing;AN Kang;XU Ying(College of Information and Electrical Engineering,Shanghai Normal University,Shanghai 201418,China;School of Mechatronic Engineering and Automation,Shanghai university,Shanghai 200444,China;School of Electronics and Information Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]上海师范大学信息与机电工程学院,上海201418 [2]上海大学机电工程与其自动化学院,上海200444 [3]同济大学电子与信息工程学院,上海201804

出　　处：《上海师范大学学报（自然科学版）》2021年第4期423-432,共10页Journal of Shanghai Normal University(Natural Sciences)

基　　金：上海市自然科学基金(20ZR1440500)。

摘　　要：仿生蛇形机器人对复杂环境具有良好的适应性,应用前景广泛.针对蜿蜒运动初始时刻的突变问题和运动过程中存在的偏移问题,提出优化方程,并对蜿蜒运动步态进行规划,研究了模型参数对机器人运动速度、偏移的影响,分析运动控制参数,并对运动步态偏移进行补偿.通过Webots仿真实验表明:运动控制参数决定了蛇形机器人的运动形状、偏移量及转弯特性,可以有效避免侧向偏移,对蛇形机器人高效的运动控制具有较为重要的借鉴意义.The bionic snake-like robot with good adaptability to complex environment had a wide application prospect.Aiming at the abrupt change at the beginning of serpentine movement and the deviation in the process of movement,the optimal equation was put forward and the gait of serpentine movement was planned in this paper.Then research was focused on the analysis of parameters in motion equation which had an important influence on velocity and migration of snake-like robot and the compensation of motion gait offset was implemented.Finally,Webots simulation experiment result showed that the shape,offset and turning characteristics of the snake-like robot were determined by the motion control parameters,and the lateral offset could be eliminated by specific parameter,which had important enlightenment and reference significance in motion control of snakelike robot.

关 键 词：蛇形机器人 蜿蜒运动 步态规划 偏移补偿 Webots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]