一种仿婴儿欠自由度四足爬行机器人
一种仿婴儿欠自由度四足爬行机器人一种仿婴儿欠自由度四足爬行机器人
张秀丽1, 梁艳2
1. 北京交通大学机械与电子控制工程学院, 北京 100044;
2. 北京康信知识产权代理有限责任公司, 北京 100098
A Baby-mimic Insufficient-DOF Quadruped Crawling Robot
ZHANG Xiuli1, LIANG Yan2
1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;
2. Beijing Kangxin Partners, Beijing 100098, China
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摘要 受婴儿爬行时独特的躯体形态的启发，设计了具有柔性脊柱和弹性膝关节的欠自由度四足爬行机器人BabyBot，其脊柱为变截面通体柔顺结构，膝关节为无自由度可变形被动关节．利用伪刚体法对柔性脊柱和弹性膝关节的结构参数进行设计，采用中枢模式发生器（CPG）运动控制模型生成对角爬行步态轨迹，柔顺机构与仿生控制有机结合形成了BabyBot机器人“以膝着地、腰髋耦合”的仿婴儿爬行步态．对欠自由度仿婴儿机器人的机构可行性，以及柔性脊柱对机器人运动性能的影响进行仿真及实验，结果表明，具有弹性膝关节的欠自由度四足机器人可以实现平稳的爬行运动，变截面柔性脊柱能够减小机器人行走时躯干在横滚及偏转方向的姿态波动程度，提高了机器人运动的协调性和轨迹准确性，并揭示出婴儿爬行时脊柱的柔顺运动对稳定视觉的潜在作用．
关键词 ： 四足机器人,爬行,柔性脊柱,欠自由度,中枢模式发生器
Abstract：Inspired by the unique body configuration when a baby crawls, a quadruped crawling robot with flexible spine and elastic knees is designed, named BabyBot. The spine is a variable cross-section structure of elastic material and the knees are passively deformable joints without active DOFs (degrees of freedom). The flexible spine and elastic knees are designed using pseudo rigid body modeling approach. The central pattern generator (CPG) is employed to generate trot gait trajectories for BabyBot. Combining the compliant mechanical structure with the biologically-inspired control approach, the “supporting on knees and waist-hip motion coupling” gait in baby crawling is developed. The dynamic simulations and physical experiments are conducted to evaluate the feasibility of Babybot's mechanical configuration and the influence of the flexible spine on its performance of the baby-mimic insufficient-DOF robot. The results show that the insufficient-DOF quadruped crawling robot with passive elastic knees is capable of crawling stably. Variable cross-section flexible spine can reduce the trunk's postural instability in roll and yaw directions when the robot crawls. That means the flexible spine enables the robot to crawl naturally and to maintain its direction. And it implies the spine's compliant swinging has active role on stabilizing the vision of a baby.
Key words： quadruped robot crawling flexible spine insufficient-DOF (degree of freedom) central pattern generator
收稿日期: 2016-03-22 出版日期: 2016-07-04
1:TP242.6
基金资助:国家自然科学基金（50905012）；中央高校基本科研业务费项目（2015JBZ005）
通讯作者: 张秀丽，zhangxl@bjtu.edu.cn E-mail: zhangxl@bjtu.edu.cn
作者简介: 张秀丽（1975-），女，博士，副教授．研究领域：仿生机器人．
梁艳（1988-），女，硕士生．研究领域：仿生机器人，知识产权技术．
引用本文:
张秀丽, 梁艳. 一种仿婴儿欠自由度四足爬行机器人. 机器人, 2016, 38(4): 458-466.
ZHANG Xiuli, LIANG Yan. A Baby-mimic Insufficient-DOF Quadruped Crawling Robot. ROBOT, 2016, 38(4): 458-466.
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