SIA OpenIR  > 机器人学研究室
蛇形机器人步态产生及步态分析
Alternative TitleGait Generation and Analysis for Snake-like Robots
郁树梅; 马书根; 李斌; 王越超
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2011
Volume33Issue:3Pages:371-378
Indexed ByEI ; CSCD
EI Accession number20112414058454
CSCD IDCSCD:4208098
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61075103); 国家863计划资助项目(2006AA04Z254)
Keyword蛇形机器人 步态分析 螺旋运动 控制参数 控制方程 离散曲线 几何约束 运动控制 螺旋构型 控制系统
Abstract以简化的Serpenoid曲线为基础,并根据蛇形机器人的3维运动由其水平和竖直两个平面的运动合成的理论,提出了一种蛇形机器人的3维步态产生方法.通过实验验证了各种步态,并在实验中得到了蛇形机器人各种步态的运动特性与相应的运动控制方程参数之间的关系.在实验中,得到了一种新步态,并将其命名为螺旋步态.对于螺旋步态,利用运动学分析对机器人的形态进行3维重现,并且根据螺旋运动的几何约束,给出了机器人的螺旋步态半径与控制参数间的定量关系.
Other AbstractBased on a simplified Serpenoid curve,and the fact that snake-like robot s three-dimensional motion is combined by both of the motions on the horizontal plane and vertical plane,a three-dimensional snake-like robot gait generation method is proposed.Experiments validate the gaits,meanwhile the relationship between the motion control parameters and the features displayed on the snake-like robot s gaits are found.For the novel gait obtained in the experiments,named helical gait,the snake-like robot s three-di...
Language中文
Citation statistics
Cited Times:9[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7242
Collection机器人学研究室
Corresponding Author郁树梅
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.中国科学院研究生院
3.立命馆大学机器人系
Recommended Citation
GB/T 7714
郁树梅,马书根,李斌,等. 蛇形机器人步态产生及步态分析[J]. 机器人,2011,33(3):371-378.
APA 郁树梅,马书根,李斌,&王越超.(2011).蛇形机器人步态产生及步态分析.机器人,33(3),371-378.
MLA 郁树梅,et al."蛇形机器人步态产生及步态分析".机器人 33.3(2011):371-378.
Files in This Item:
File Name/Size DocType Version Access License
ZWQK001004.pdf(1382KB) 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[郁树梅]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Baidu academic
Similar articles in Baidu academic
[郁树梅]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[郁树梅]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: ZWQK001004.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.