中国机械工程2018，Vol.29Issue(12)：1485-1491,7.DOI:10.3969/j.issn.1004-132X.2018.12.015
水田土壤上典型步态及其参数对足式机器人能耗的影响
Effects of Typical Gaits on Paddy Soils and Parameters on Energy Consumption of Legged-robots
摘要
Abstract
The single leg of legged-robots and the soil finite element model were established by ABAQUS,and the finite element dynamics simulation was carried in order to explore the influence law of unit energy consumption of four typical gaits(rectangular,modified cycloid,elliptical,zero impact)and their parameters.The actual experiments with the same parameters were designed on the independently-developed foot-to-ground test bench in order to test the correctness of finite element dynamics simula-tions.The results show the performance of energy consumption of elliptical gaits is the best,and the mini-mum unit energy consumption decreases 12.5%,11% and 12% compared with rectangular,corrected cy-cloid and zero impact respectively. The simulation tests are in good agreement with the actual tests on trail of mechanical leg walking.The knee joint and hip joint torque obtained by simulation tests and actual tests are also in a good agreement.关键词
足式机器人/能耗/土壤模型/步态规划Key words
legged-robot/energy consumption/soil model/gait planning分类
信息技术与安全科学引用本文复制引用
朱鹏,章永年,何春霞,卢伟..水田土壤上典型步态及其参数对足式机器人能耗的影响[J].中国机械工程,2018,29(12):1485-1491,7.基金项目
国家自然科学基金资助项目(51405239) （51405239）
江苏省自然科学基金青年基金资助项目(BK20130696) （BK20130696）
南京农业大学青年科技创新基金资助项目(KJ2013042) （KJ2013042）
南京农业大学人才启动基金资助项目(Rcqd13-18) （Rcqd13-18）
