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题名: 欠平滑壁面上微小型爬壁机器人的运动控制
其他题名: Motion Control of Micro Wall-Climbing Robot on Unsmoothed Wall
作者: 姜勇 ; 王洪光 ; 房立金
作者部门: 机器人学研究室
会议名称: 7th World Congress on Intelligent Control and Automation
会议日期: June 25-27, 2008
会议地点: Chongqing, China
会议主办者: Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn
会议录: 2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 3252-3257
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2113-8
关键词: 微小型爬壁机器人 ; 运动控制 ; 主动试探 ; 步态分析
摘要: 针对欠平滑壁面上微小型爬壁机器人吸盘足吸附失败后的自主行为控制问题,通过分析机器人的步态,建立了机器人吸盘足的有限状态机模型,并按“就近”原则设定状态转移优先级,提出了基于主动试探的微小型爬壁机器人着地点选择运动控制方法,并对该方法进行了仿真分析和实验验证,结果表明所提出方法在改善机器人控制性能,提高机器人自主能力方面是有效的
英文摘要: To solve the problem on automatic behavior control of a micro wall-climbing robot when its suction foot was not fulfilled enough vacuum pressure on an unsmoothed wall, a motion control method based on initiative exploration was proposed. Firstly the basic gaits of the micro wall-climbing robot were analyzed. Then a finite state machine model of the suction foot of the robot was introduced. In addition, the priority to transfer the state was defined according to the "handy" principle. The above-mentioned studies provided the foundation for the motion control method based on initiative exploration. Simulations and experiments show that the method can easily control the micro wall-climbing robot to search a proper touchdown point for its suction foot on the unsmoothed wall.
语种: 中文
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8954
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
姜勇; 王洪光; 房立金.欠平滑壁面上微小型爬壁机器人的运动控制.见:IEEE .2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23,NEW YORK,2008,3252-3257
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