自动化学报2011，Vol.37Issue(5)：604-614,11.DOI:10.3724/SP.J.1004.2011.00604
基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究
Simulation and Experimental Study of an Energy-based Control Method for the Serpentine Locomotion of a Snake-like Robot
摘要
Abstract
Energy plays an important role in the serpentine locomotion of a snake-like robot. The energy dissipation describes the environmental interaction; the energy transformation reflects the locomotion dynamics; the energy balance relates to the locomotion coordination. An energy-based control method for a snake-like robot, named passive creeping,is proposed. This method controls the robot by using torque inputs which are adjusted by the robot's energy state. In simulation, the configurations, angles, torques, energy states, and turning characteristics are revealed, and the torque data are analyzed by using a recurrence plot. Based on an Optotrak motion capture system, a virtual/physical mixed experimental system is constructed. A locomotion experiment and a drag experiment are performed. The former changes the environment, and the latter alters the payload. The simulations and experiments demonstrate the validity and adaptability of the passive creeping.关键词
蛇形机器人/蜿蜒运动/能量/适应性/运动测量系统Key words
Snake-like robot/ serpentine locomotion/ energy/ adaptability/ motion capture system引用本文复制引用
王智锋,马书根,李斌,王越超..基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究[J].自动化学报,2011,37(5):604-614,11.基金项目
国家自然科学基金(61075103),中国科学院知识创新工程青年人才领域前沿资助项目(07A1200101)资助 （61075103）
