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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.
Inspired by the unique body shape of baby crawling, an under-freedom four-legged crawler BabyBot with flexible spine and flexible knee was designed. The spine was a flexible structure with variable cross-section, and the knee joint was deformable with freedom. The pseudo-rigid body method was used to design the structural parameters of the flexible spine and flexible knee joint. The CPG motion control model was used to generate the diagonal crawling gait trajectory. The compliant mechanism combined with the bionic control to form a BabyBot robot Knee-to-ground, hip-hip-coupled baby crawling gait. The feasibility and mechanism of under-freedom robot imitation and the effects of flexible spine on robot performance are simulated and tested. The results show that, The four-legged robot with freedom degree can achieve a smooth creeping motion. The flexible spine with variable cross section can reduce the degree of torsional fluctuation of the torso in the roll and yaw direction when the robot is walking, improve the coordination and trajectory accuracy of the robot and reveal the infants The potential role of the smooth movement of the spine on the steady vision when crawling.