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基于相位调整法实现蛇形机器人避障功能的研究
Alternative TitleUsing phase adjustment method to achieve snake-like robot's obstacle avoidance function
卢振利; 刘超; 谢亚飞; 徐惠钢; 单长考; 许仙珍; 李斌
Department机器人学研究室
Source Publication高技术通讯
ISSN1002-0470
2015
Volume25Issue:5Pages:508-514
Indexed ByCSCD
CSCD IDCSCD:5558505
Contribution Rank1
Funding Organization国家自然科学基金(61473283),机器人学国家重点实验室开放基金(2014-008),校新引进教师科研启动项目(XZ1306)和葡萄牙科技部CIENCIA2007基金资助项目.
Keyword蛇形机器人 避障 相位调整 蜿蜒运动
Abstract

为了提高蛇形机器人在实际环境中的实用性,研究了蛇形机器人的避障功能,并提出了一种基于相位调整的蛇形机器人避障方法。该方法用安装在蛇形机器人头部的红外避障传感器模块检测前方是否有障碍物,若有障碍物,则用相位调整法改变蛇形机器人每个关节的步态相位来控制蛇形机器人的蜿蜒运动以实现转弯,从而避开障碍物。而且应用红外传感器来感知障碍物的几何特性,若感知到大型障碍物,机器人蜿蜒运动行进采用顺障策略实现避障功能,若感知到小型障碍物,采用绕障策略。该研究可为推进蛇形机器人的实用化提供技术储备。

Other Abstract

To improve the practicality of was studied, and an obstacle a snake-like robot in a real application environment, its obstacle avoidance funcavoidance method based on phase adjusting was presented. The method uses an infrared sensor module installed in the robot' s head for obstacle avoidance to detect obstacles in front. If an obstacle is detected, it changes each joint' s gait phase of robot by phase adjustment to control the robot' s serpentine locomotion for robot to make a turn, thus the obstacle is avoided. The infrared sensor module is also used to detect the geometric characteristics of obstacles. If a large obstacle is detected, the robot' s serpentine locomotion adopts the strategy of moving along obstacle edge to achieve the obstacle avoidance function, while a small obstacle is found, the strateg of bypassing the of snake-like robots obstacle is adopted. This work provides technical reserve for real application.

Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17445
Collection机器人学研究室
Affiliation1.常熟理工学院电气与自动化工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
3.阿威罗大学电子和信息通信工程研究所
4.中国矿业大学信息与电气工程学院
Recommended Citation
GB/T 7714
卢振利,刘超,谢亚飞,等. 基于相位调整法实现蛇形机器人避障功能的研究[J]. 高技术通讯,2015,25(5):508-514.
APA 卢振利.,刘超.,谢亚飞.,徐惠钢.,单长考.,...&李斌.(2015).基于相位调整法实现蛇形机器人避障功能的研究.高技术通讯,25(5),508-514.
MLA 卢振利,et al."基于相位调整法实现蛇形机器人避障功能的研究".高技术通讯 25.5(2015):508-514.
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