农业机械学报2024，Vol.55Issue(2)：433-441,458,10.DOI:10.6041/j.issn.1000-1298.2024.02.043
可重构仿生四足机器人倾覆后恢复机理与特性研究
Recovery Mechanism and Characteristics of Reconfigurable Bionic Quadruped Robot after Overturning
摘要
Abstract
Agricultural environments have many ups and downs,fuzzy boundaries,and mostly unstructured distributions.Quadrupedal robots operating in complex agricultural environments are very susceptible to tipping over and thus losing locomotion,and therefore,quadrupedal robots need to have the ability to recover after tipping over.Traditional quadrupedal robots rely on leg movement to recover from tipping in most cases,while reconfigurable quadrupedal robots can realize self-recovery after tipping through the coordinated movement of the torso and legs.Based on the variable configuration of the reconfigurable torso,bionic forms of reconfigurable quadruped robots were obtained,and the recovery mechanism after tipping based on the reconfigurable theory was planned.Then comparing the two recovery modes of the reconfigurable robots after tipping by using the torso arching and folding and unilateral flipping and folding,the kinematic characteristics of the recovery of the R1-type and R2-type reconfigurable quadrupedal robots were analyzed and got.Then simulation was carried out by using the software ADAMS,and the simulation data were analyzed to prove that the reconfigurable torso was more effective than the rigid torso in reducing the impact during the recovery process.Finally,a prototype was designed and experiments were conducted to verify the feasibility and stability of the mechanism implementation,and the experimental results showed that the post-collapse recovery mechanism can reduce the difficulty of realizing static self-recovery.关键词
四足机器人/可重构/仿生/倾覆/恢复Key words
quadruped robot/reconfigurable/bionic/overturning/self-recovery分类
机械制造引用本文复制引用
张春燕,刘玉航,丁兵,杨杰..可重构仿生四足机器人倾覆后恢复机理与特性研究[J].农业机械学报,2024,55(2):433-441,458,10.基金项目
国家自然科学基金项目(52005317) （52005317）
