中国机械工程2012，Vol.23Issue(10)：1230-1236,7.
蛇形机器人桥梁缆索攀爬步态控制研究
Research on Gait Generation and Control of Snake--like Robot for Bridge Cable Climbing
摘要
Abstract
This paper used an orthogonal joint snake--like robot for cable climbing. A method called by iterative chain fitting and keyframe wave extraction algorithm was introduced for the gait design of snake--like robot with orthogonal joint. This method can build a relationship between the backbone curve and the input of the joint actuator. The advantages of backbone method and control function method could be combined by this method. By using this method the backbone and its motion can be known and the control function of joint actuator can be obtained at the same time. The pro- posed method can improve the safety of the climb, the flexibility of the gait effectively and it is easy to control the underlying drivers. Experimental results show that the method is feasible.关键词
蛇形机器人/正交关节/迭代链拟合/关键帧提取/螺旋攀爬步态控制Key words
snake-- like robot/orthogonal joint/iterative chain fitting/keyframe wave extraction spiral climbing gait分类
信息技术与安全科学引用本文复制引用
魏武,孙洪超..蛇形机器人桥梁缆索攀爬步态控制研究[J].中国机械工程,2012,23(10):1230-1236,7.基金项目
基金项目：国家自然科学基金资助重点项目 （）
中央高校基本科研业务费专项资金资助项目 （）
