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基于倾翻与滑移稳定性准则的轮椅机器人爬楼梯控制方法
Alternative TitleStair-climbing control method of a wheelchair robot based on tip-over and slippage stability criterion
于苏洋; 王挺; 王志东; 王越超; 姚辰
Department机器人学研究室
Source Publication仪器仪表学报
ISSN0254-3087
2014
Volume35Issue:3Pages:676-684
Indexed ByEI ; CSCD
EI Accession number20141617586385
CSCD IDCSCD:5102992
Contribution Rank1
Funding Organization国家自然科学基金(60805048)资助项目
Keyword轮椅机器人 单节变形履带机构 倾翻与滑移稳定性 自主爬越楼梯
Abstract提出一种采用单节变形履带机构的轮椅机器人。这种机器人能够通过前、后2 组摆臂同时控制履带形状与张紧力,使履带更好地与障碍物相适应,从而提高传统轮椅及现有履带式轮椅机器人的越障能力。针对机器人爬越楼梯过程,提出一种过约束状态下履带与楼梯间作用力的近似求解方法,并结合履带与楼梯间的滑移分析建立了一种能够同时评判机器人倾翻与滑移情况的稳定性准则。在所建立稳定性准则的基础上,进一步制定了机器人自主爬越楼梯控制方法,并通过实验验证了控制方法的有效性。
Other AbstractA wheelchair robot equipped with variable geometry single tracked mechanisms (VGSTMs) is proposed. This mechanism can actively control the track shape and track tension to adapt for the obstacle through rotating the two pairs of flippers, so the obstacle cros sing capability of the traditional wheelchair and tracked type wheelchair robot can be improved. Aiming at the stair-climbing process of the robot, an approximation solution method of the force between the track and stairs for the situation that the robot is over-constrained is proposed, and the slippage between the track and stairs is analyzed systematically, based on which a new tip-over and slippage stability criterion is established. Finally, on the basis of the established stability criterion, a robot autonomous control method for stair-climbing is proposed, and an experiment was performed to verify the effectiveness of the proposed control method.
Language中文
Citation statistics
Cited Times:4[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14758
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.沈阳航空航天大学机电工程学院
3.日本千叶工业大学先进机器人技术部
Recommended Citation
GB/T 7714
于苏洋,王挺,王志东,等. 基于倾翻与滑移稳定性准则的轮椅机器人爬楼梯控制方法[J]. 仪器仪表学报,2014,35(3):676-684.
APA 于苏洋,王挺,王志东,王越超,&姚辰.(2014).基于倾翻与滑移稳定性准则的轮椅机器人爬楼梯控制方法.仪器仪表学报,35(3),676-684.
MLA 于苏洋,et al."基于倾翻与滑移稳定性准则的轮椅机器人爬楼梯控制方法".仪器仪表学报 35.3(2014):676-684.
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