SIA OpenIR  > 机器人学研究室
Dynamic Modeling and Controlling for the Crawling Motion of the 6-strut Tensegrity Robot
Li B(李斌)1; Du WJ(杜文娟)1,2; Liu WY(刘文元)1,3
作者部门机器人学研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码1087-1092
收录类别EI ; CPCI(ISTP)
EI收录号20183905873639
WOS记录号WOS:000447628700197
产权排序1
ISBN号978-1-5386-0489-2
关键词Modeling Controlling Crawling Gait 6-strut Tensegrity Robot
摘要

The 6-strut tensegrity robot (TR-6) is a novel deformable mobile robot, and it can generate different gaits by self-deformation to adapt to various terrains. As the shape of the TR-6 is similar to a sphere, unexpected falling often occur when the robot is climbing a slope with rolling gait. By self-deformation, the TR-6 can generate crawling gait and move forward steady. As the topology of the TR-6 is complicated, the components of the structure are highly coupled, and the TR-6 is a multi-input system, there is no existed method for solving the control problem of the crawling gait for TR-6. This paper presents a control method for the crawling gait of TR-6 based on the genetic algorithm (GA). Firstly, a dynamic model of the TR-6 is built by the Newton-Euler method. Secondly, based on the TR-6 dynamic model, an optimal initial configuration and the range of the control parameters for avoiding the unexpected rolling during crawling motion are determined. Lastly, by converting the multi-input control problem to an optimization problem and solving the optimization problem by GA, a group of control parameters are chosen to control the TR-6 crawl forward steady and fast. The control method is realized by C++ code, and a group of control parameters are given by the numerical simulation. The experiments verifies the result of simulation.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22843
专题机器人学研究室
通讯作者Li B(李斌)
作者单位1.State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.College of Information Science and Engineering, Northeastern University, Shenyang, China
推荐引用方式
GB/T 7714
Li B,Du WJ,Liu WY. Dynamic Modeling and Controlling for the Crawling Motion of the 6-strut Tensegrity Robot[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:1087-1092.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Dynamic Modeling and(1624KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Li B(李斌)]的文章
[Du WJ(杜文娟)]的文章
[Liu WY(刘文元)]的文章
百度学术
百度学术中相似的文章
[Li B(李斌)]的文章
[Du WJ(杜文娟)]的文章
[Liu WY(刘文元)]的文章
必应学术
必应学术中相似的文章
[Li B(李斌)]的文章
[Du WJ(杜文娟)]的文章
[Liu WY(刘文元)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Dynamic Modeling and Controlling for the Crawling Motion of the 6-strut Tensegrity Robot.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。