机械科学与技术2018，Vol.37Issue(4)：525-531,7.DOI:10.13433/j.cnki.1003-8728.2018.0406
足式机器人单腿缺失故障的容错行走研究
Study on Fault Tolerant Walking of Legged Robot with Single Leg Missing
摘要
Abstract
In the legged robot operation,the phenomenon of leg loss often occurs due to environmental factors.Single-leg missing robots will not be able to continue walking or even standing in accordance with the original control.In order to improve the sustainable ability of the robot to cope with the complicated working environment,a four-legged robot control method is proposed to solve the problem by adjusting the pendulum joint and increasing the stabilization phase without additional equipment.After calculating the static analysis of the damaged robot,the optimal solution of the rotation angle of the side pendulum is 21°.According to the comparison of the adjacent series of angle values,the roll angle of the robot is always changed between-2° to 2° when the angle of the pendulum joint is 21°,and the amplitude of the roll angle of the robot decreases by 10.8％ after 16 cycles,which verifies the effectiveness of the proposed control method.关键词
足式机器人/腿部缺失/稳定相/姿态角Key words
legged robot/leg deficiency/stable phase/attitude angle分类
信息技术与安全科学引用本文复制引用
史航,章永年,王兴盛,康敏,汪小旵..足式机器人单腿缺失故障的容错行走研究[J].机械科学与技术,2018,37(4):525-531,7.基金项目
国家自然科学基金项目(51405239)、南京农业大学青年科技创新基金项目(KJ2013042)及中央高校基本科研业务费专项资金项目(KY2201761)资助 （51405239）
