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Alternative TitleResearch on the autonomous stair climbing control of shape-shifting robots
常健; 王亚珍; 李斌
Source Publication高技术通讯
Indexed ByCSCD
Contribution Rank1
Funding Organization国家科技支撑计划(2014BAK12B01)资助项目
Keyword可变形机器人 攀爬楼梯 自主控制 履带接触
Other AbstractA robot system capable of autonomous stair climbing was designed and implemented, and a method for autonomous stair climbing control of shape-shifting robots in complex environments was studied. Through the analysis of the contact modes between stairs and robot tracks,including tread slipping,edge slipping and track slipping,the non-slipping conditions meeting the robot during the tread overcoming process were determined to improve the efficiency of climbing stairs for the robot. Through filtering of the sensor’s perception information,the robot’s awareness was enhanced. Then the first and last stairs were determined and the control strategy was established effectively. By the modeling analysis of the whole control system,the software flow diagram was established. The experiments were done on several typical kinds of stairs to test the robustness and validity of the design,and the results were satisfactory.
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Document Type期刊论文
Corresponding Author常健
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GB/T 7714
常健,王亚珍,李斌. 可变形机器人自主攀爬楼梯控制研究[J]. 高技术通讯,2016,26(7):657-666.
APA 常健,王亚珍,&李斌.(2016).可变形机器人自主攀爬楼梯控制研究.高技术通讯,26(7),657-666.
MLA 常健,et al."可变形机器人自主攀爬楼梯控制研究".高技术通讯 26.7(2016):657-666.
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