摘要
It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain.The on-line modification was composed of speed modification,foot lifting-off height modification,step length modification,and identification and avoidance of unsuitable landing terrain.A planner quadruped robot simulator was used to apply the DLP walking method.The correctness of the method was proven by a series of simulations using the Adams and Simulink.
It is necessary for legged robots to walk stably and smoothly on rough terrain. In this paper, a desired landing poi motion trace nts （DLP） walking method based on preview control was proposed in which an off-line foot an on-fine modification of the trace were used to enable the robot to walk on rough terrain. The on-line modification was composed of speed modification, foot lifting-off height modification, step length modification, and identification and avoidance of unsuitable landing terrain. A planner quadruped robot simulator was used to apply the DLP walking method. The correctness of the method was proven by a series of simulations using the Adams and Simulink.
出处
《智能系统学报》
2011年第5期464-469,共6页
CAAI Transactions on Intelligent Systems
基金
supported in part by the National Natural Science Foundation of China under Grant 60875067
the Natural Science Foundation of Heilongjiang Province under Grant F200602
the Technical Innovation Talent Foundation of Harbin under Grant 2010RFQXG010
作者简介
Corresponding Author： MA Hongwen. E-mail： mahongwen@hrbeu. edu. cn. MA Hongwen received a B. S. degree in automobile engineering in 1995 form Jilin University of Technology, Changchun, China. He then earned an M.S. degree in mechanical engineering and Ph.D. degree in instrument and instrumentation engi-neering, both from Harbin Institute of Technology, Harbin, China, in 1999 and 2005 respectively. In 2006, he joined the College of Mechanical and Electrical Engineering, Harbin Engineering Universigy, Harbin, China. Dr. Ma was awarded the First Prize of Science and Technology of the Helongjiang Province Machinery Industry Association and the Second Prize of Science and Technology of Helongjiang Province in 2009 and 2010 respec- tively. He has authored or co-authored more than 20 technical articles in journals and conference proceedings in the area of mechatronics and instrumentation.
WANG Liquan was born in Hebei, China in 1957. He received a PhD in con- trol theory and control engineering from Harbin Engineering University （HEU）. He is currently employed by HEU as a professor. His current interests include bionics, underwater robots, underwater construction equipment, sub-sea oil industry equipment, and intelligent control engineer- ing. He has guided more than 50 graduate students in mecha- tronics engineering sub-seaoil industry equipment, and intelligent wntrol engineering. He has authored or co-authored more than 50 technical articles in journals and conference proceedings. He is the chief editor of 5 textbooks in related research fields.
ZHONG Zhi received B.S. and M. S. degrees in communications engineering and a Ph. D. degree in instruments and instrumentation engineering, all from Harbin Institute of Technology, Harbin, China, in 1999, 2001, and 2005 respectively. In 2006, he joined the College of Information and Communi- cation, Harbin Engineering University, Harbin, China. His current research interests include optical wireless and optical-electronics measurement.
