高技术通讯2016，Vol.26Issue(7)：657-666,10.DOI:10.3772/j.issn.1002-0470.2016.07.006
可变形机器人自主攀爬楼梯控制研究
Research on the autonomous stair climbing control of shape-shifting robots
摘要
Abstract
A robot system capable of autonomous stair climbing was designed and implemented, and a method for autono-mous stair climbing control of shape-shifting robots in complex environments was studied. Through the analysis of the contact modes between stairs and robot tracks, including tread slipping, edge slipping and track slipping, the non-slipping conditions meeting the robot during the tread overcoming process were determined to improve the effi-ciency of climbing stairs for the robot. Through filtering of the sensor’ s perception information, the robot’ s aware-ness was enhanced. Then the first and last stairs were determined and the control strategy was established effective-ly. By the modeling analysis of the whole control system, the software flow diagram was established. The experi-ments were done on several typical kinds of staris to test the robustness and validity of the design, and the results were satisfactory.关键词
可变形机器人/攀爬楼梯/自主控制/履带接触Key words
shape-shifting robot/climbing stairs/autonomous control/track contact引用本文复制引用
常健,王亚珍,李斌..可变形机器人自主攀爬楼梯控制研究[J].高技术通讯,2016,26(7):657-666,10.基金项目
国家科技支撑计划(2014BAK12B01)资助项目。 （2014BAK12B01）
