基于四足仿生机器人快递配送的研究  

Research on Express Delivery Project Based on Quadruped Bionic Robot

作　　者：靳晨 刘刚[1] 吕兴东 黎航宇 杨雅子琪 邓艺霖 Jin Chen;Liu Gang;Lyu Xingdong;Li Hangyu;Yang Yaziqi;Deng Yilin(School of Instrument Science and Optoelectronic Engineering,Beijing Information Science and Technology University,Beijing 100192)

机构地区：[1]北京信息科技大学仪器与光电工程学院,北京100192

出　　处：《现代计算机》2022年第19期51-56,共6页Modern Computer

基　　金：2022年大学生科技创新计划项目(202211232002)。

摘　　要：简要概述了中国机器人大赛中四足仿生机器人的参赛机制,详细介绍了四足仿生机器人的硬件平台结构以及快递配送项目的软件实现方案;从实践结果来看,仿生机器人具备过减速带、上台阶、过窄桥、下斜坡、过草地等地形障碍以及二维码识别、快递配送和快递投放任务的功能;从参赛结果来看,该机器人取得的优异成绩,验证了本文硬件设计与控制策略的正确性。The competition mechanism of the quadruped bionic robot in China Robot Competition is briefly summarized and the hardware platform structure of the quadruped bionic robot and the software scheme for express package delivery are presented in details in this paper.The practical results show that the bionic robot has the function of passing through terrain obstacles,such as speed bumps,steps,narrow bridges,slopes and grasslands,as well as QR codes recognition,express package distribution and express package delivery.From the perspective of the competition,the excellent results of the robot verified the correctness of the hardware design and control strategy.

关 键 词：四足仿生机器人 控制策略 快递配送 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] F259.2[自动化与计算机技术—控制科学与工程]