水陆两栖仿生机器人水下步态生成研究  

Research on Underwater Gait Generation of Amphibious Bionic Robot

作　　者：张凯 张尚盈 陈皓晖 于传浩[1] ZHANG Kai;ZHANG Shangying;CHEN Haohui;YU Chuanhao(School of Mechanical and Electrical Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Wuhan Yuqiong Technology Co.,Ltd.,Wuhan 430205,China;Chinese People's Liberation Army No.32382,Beijing 100072,China)

机构地区：[1]武汉工程大学机电工程学院,武汉430205 [2]武汉誉琼科技有限公司,武汉430205 [3]中国人民解放军32382部队,北京100072

出　　处：《机械科学与技术》2024年第9期1531-1536,共6页Mechanical Science and Technology for Aerospace Engineering

摘　　要：设计一种拥有弧形腿与桨鳍结合的水陆两栖仿生机器人,提出一种水陆两栖机器人的水下步态映射函数,以期望机器人获得与海龟类似的推进方式。依据海龟的形态结构和运动形态,以Hopf振荡器为基本神经元建立六条腿全耦合式拓扑结构的中枢模式发生器(Central pattern generator,CPG)神经网络。对CPG输出信号以及机器人水下步态映射函数进行分析、优化实现参数的可调性及各步态间转换的平稳性。最后通过仿真与实验验证并生成水下步态生成的转换图,证明了优化后的步态CPG输出信号以及机器人水下步态映射函数的可行性。An amphibious bionic robot with cambered leg and paddle fin is designed and an underwater gait mapping function of the amphibious robot is proposed,in order to expect the robot to obtain a propulsion mode similar to that of sea turtles.According to the morphological structure and movement patterns of sea turtles,a central pattern generator(CPG)neural network with a six-leg fully coupled topology is established based on the Hopf oscillator as the basic neuron.The CPG output signal and the robot's underwater gait mapping function are analyzed,and the adjustment of parameters is optimized.Finally,through simulation and test,the conversion diagram of the underwater gait is generated,the feasibility of the optimized gait CPG output signal and the underwater gait mapping function of the robot are proved.

关 键 词：水陆两栖 仿生机器人 中枢模式发生器 步态生成 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]