一种仿壁虎机器人侧向地壁过渡方式及步态

中国机械工程 ›› 2013, Vol. 24 ›› Issue (5): 573-579.

一种仿壁虎机器人侧向地壁过渡方式及步态

张昊1;龙玮洁1;李锦方2;俞志伟1;阮鹏1;戴振东1

1.南京航空航天大学，南京，210016
2.南京机电液压工程研究中心，南京，210032

出版日期:2013-03-10 发布日期:2013-03-19
基金资助:
国家自然科学基金资助项目（51275237，51105201，61175105）；中国博士后科学基金资助项目（20100471339）；南京航空航天大学基础科研项目（NS2012014）
National Natural Science Foundation of China（No. 51275237，51105201，61175105）;
Supported by China Postdoctoral Science Foundation（No. 20100471339）

Transition Gait from Ground to Wall for a Gecko-mimicking Robot

Zhang Hao1;Long Weijie1;Li Jinfang2;Yu Zhiwei1;Ruan Peng1;Dai Zhendong1

1.Nanjing University of Aeronautics & Astronautics,Nanjing,210016
2.AVIC Jincheng Nanjing Engineering Institute of Aircraft System,Nanjing,210032

Online:2013-03-10 Published:2013-03-19
Supported by:

National Natural Science Foundation of China（No. 51275237，51105201，61175105）;
Supported by China Postdoctoral Science Foundation（No. 20100471339）

摘要/Abstract

摘要：

壁虎身体沿脊椎轴的两个方向都具有很好的柔性，为实现多种地壁过渡提供了可能，然而壁虎更乐意采用侧向过渡方式。由于所研制的仿壁虎机器人结构的体长方向刚度远高于体宽方向刚度，因此其侧向地壁过渡是一种较好的方式。采用软件联合仿真，提出并规划了一种侧向地壁过渡步态方式，并得到其过渡时的步态运动序列和各关节旋转角度。

关键词: 仿壁虎机器人, 地壁过渡, 步态规划, 运动仿真

Abstract:

Because of the good flexibility along the spinal axis in two directions, gecko has the possibility to transmit ground to wall in several ways. However gecko prefers to use lateral transition mode. According to the structure of a gecko-mimicking robot whose stiffness along the length direction was much higher than that along the width direction, lateral mode was a good idea for the robot to transit from ground to wall. Several software tools were adopted to simulate together in order to introduce and plan one lateral transition gait, and get the gait sequences and the joint rotation angles.

Key words: gecko-mimicking robot, transition from ground to wall, gait planning, locomotion simulation

中图分类号:

TP242.3

张昊1, 龙玮洁1, 李锦方2, 俞志伟1, 阮鹏1, 戴振东1. 一种仿壁虎机器人侧向地壁过渡方式及步态[J]. 中国机械工程, 2013, 24(5): 573-579.

ZHANG Hao-1, LONG Wei-Ji-1, LI Jin-Fang-2, SHU Zhi-Wei-1, RUAN Feng-1, DAI Zhen-Dong-1. Transition Gait from Ground to Wall for a Gecko-mimicking Robot[J]. China Mechanical Engineering, 2013, 24(5): 573-579.

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