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题名: Gait Planning of Concave Transition for a Wall-climbing robot
作者: Jiang Y(姜勇); Yue ZS(岳宗帅); Dong WG(董伟光); Wang HG(王洪光)
作者部门: 空间自动化技术研究室
会议名称: 2014 IEEE International Conference on Information and Automation, ICIA 2014
会议日期: July 28-30, 2014
会议地点: Hailar, China
会议录: Proceeding of the IEEE International Conference on Information and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 1284-1288
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-4100-1
关键词: Wall-climbing robot ; Finite state machine ; Concave transition ; Gait planning
摘要: For a gait planning problem of a wall-climbing robot, an on-line adaptive algorithm to perform concave transition is presented in this paper. The wall-climbing robot has a biped-wheel hybrid locomotion mechanism, which can make itself transit between two different wall surfaces. Firstly, the mechanical structure and the gait of the robot are analyzed respectively. Then, a finite state machine for gait modeling is established. On this basis, the gait planning method is proposed by using the interpolation scheme and the BP neural net. The simulations and the experiments show that for the wall-climbing robot prototype system, the on-line gait planning algorithm is feasible, and can improve the adaptive control ability effectively
语种: 英语
产权排序: 1
WOS记录号: WOS:000363815200231
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15492
Appears in Collections:空间自动化技术研究室_会议论文

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文件名: Gait Planning of Concave Transition for a Wall-climbing robot.pdf
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