China Mechanical Engineering ›› 2016, Vol. 27 ›› Issue (04): 427-432.
Previous Articles Next Articles
Xu Yan;Duan Xingguang2
Online:
2016-02-25
Published:
2016-03-03
Supported by:
徐岩;段星光2
基金资助:
CLC Number:
Xu Yan, Duan Xingguang. Posture Coupled Optimization Control of Wheel-legged Robot[J]. China Mechanical Engineering, 2016, 27(04): 427-432.
徐岩, 段星光. 轮腿式机器人的姿态耦合优化控制[J]. 中国机械工程, 2016, 27(04): 427-432.
[1]Grand C,Amar B F,Plumet F,et al.Decoupled Control of Posture and Trajectory of the Hybrid Wheel-legged Robot Hylos[C]//Proc. of the IEEE Int. Conf. on Robotics & Automation.New Orleans,LA,United States,2004:5111-5116. [2]Chol B J,Sreenivasan S V.Motion Planning of a Wheeled Mobile Robot with Slip-free Motion Capability on a Smooth Uneven Surface[C]//Proc. of the IEEE International Conference on Robotics & Automation.Leuven Belgium,1998:3727-3732. [3]Matthies L,Xiong Y,Hogg R,et al.A Portable,Autonomous,Urban Reconnaissance Robot[J].Robotics and Autonomous Systems,2002,40:163-172. [4]Sreenivasan S V,Wilcox B H.Stability and Traction Control of an Actively Actuated Micro-rover[J].Journal of Robotic Systems,1994,11(6):487-502. [5]Duan Xingguang,Huang Qiang,Li Kejie.Design and Motion Analysis of Miniature Wheel-track-legged Mobile Robot[J].Chinese Journal of Mechanical Engineering,2005,41(8):108-114. [6]Duan Xingguang,Huang Qiang,Li Jingtao.Design and Implementation of a Small Ground Mobile Robot with Multi-locomotion Modes[J].China Mechanical Engineering,2007,12(1):8-12. [7]Grand C,Amst M B,Plumet F,et al.Stability and Traction Optimization of a Reconfigurable Wheel-legged Robot[J].The International Journal of Robotics Research,2004,23(10/11):1041-1058. [8]Glocker M,von Stryk O.A Hybrid Dynamic Systems Approach to Optimal Dynamic Role Assignment and Physics-based Robot Trajectory Planning In Robocup[C]//Robocup International Symposium.Osaka, 2005:18-19. [9]Amarbf G C,Plumet F,et al.Decoupled Control of Posture and Trajectory of the Hybrid Wheel-legged Robot Hylos[C]//Proc. of the IEEE Int. Conf. on Robotics & Automation. New Orleans,2004:5111-5116. [10]Choi B J, Sreenivasan S V.Gross Motion Characteristics of Articulated Mobile Robots with Pure Rolling Capability on Smooth Uneven Surfaces[J].IEEE Transactions on Robotics and Automation,1999,15(2):340-343. [11]Song Z, Hutangkabodee S, Zweiri Y H, et al. Identification of Soil Parameters for Unmanned Ground Vehicles Track-terrain Interaction Dynamics[C]//SICE Annual Conference.Sapporo,Japan.2004: 2255-2260. [12]Hirose S, Tsukagoshi H, Yoneda K. Normalized Energy Stability Margin and Its Contour of Walking Vehicles on Rough Terrain[C]//Proceedings of the IEEE International Conference on Robotics & Automation.Seoul,2001: 181-186. [13]Mcghee R, Frank A. On the Stability Properties of Quadruped Creeping Gait[J].Mathematical Bioscience, 1968, 3: 331-351. [14]Papadopoulos E G,Rey D A.A New Mesure of Tipover Stability for Mobile Manipulators[C]//IEEE Int. Conf. on Robotics and Automation.Minneapolis,1996:3111-3116. [15]Messuri D A,Klein C A.Automatic Body Regulation for Maintaining Stability of a Legged Vehicle during Rough Terrain Locomotion[J]. IEEE Journal of Robotics and Automation,1985,Ra-1(3):132-141. [16]Ghasempoor A, Sepehri N.A Measure of Machine Stability for Moving Base Manipulators[C]//IEEE Inrernational Conference on Robotics and Automation.Nagoya,Japan,1995:2249-2254. |
[1] | YIN Meng, XU Zhigang, ZHAO Zhiliang, HAN Wei, . Design and Master-Slave Control of Dexterous Hands with Five Fingers Based on Tendon-sheath Transmission#br# [J]. China Mechanical Engineering, 2021, 32(08): 951-959. |
[2] | WANG Fengxu, XING Zhiguang, YANG Pengpeng, LIN Jun, ZHAO Jianwen, . Study on Steady-state Heat Transfer of Soft Manipulators with Variable Stiffness Based on Low-melting-point Alloy Phase Transition [J]. China Mechanical Engineering, 2021, 32(07): 793-798. |
[3] | LI Jingyi, YAO Ligang, DONG Hui. Motion Detection for Soft Manipulators Based on Three-wire Structures [J]. China Mechanical Engineering, 2021, 32(06): 721-728. |
[4] | LI Bing1;ZHANG Yongde1;YUAN Lipeng2;ZHU Guangqiang3;DAI Xuesong1;SU Wenhai3. Predictive Control of Plantar Force and Motion Stability of Hydraulic Quadruped Robot [J]. China Mechanical Engineering, 2021, 32(05): 523-532. |
[5] | YAO Daojin1;DONG Wengtao1;WANG Xiaoming1;YANG Lin2. Stable Control of Underactuated Biped Walking for Uneven Ground [J]. China Mechanical Engineering, 2021, 32(02): 180-187,194. |
[6] |
SHEN Yun1;XIE Rongli2;ZHAO Yanna3;FU Zhuang1;WANG Yao1;ZHANG Jun2;FEI Jian2.
Adaptive Curved Breast Ultrasound Scanning Method Based on Improved Impedance Control
[J]. China Mechanical Engineering, 2021, 32(02): 195-203.
|
[7] | XIE Dongfu1;LUO Yufeng1,2;SHI Zhixin1;LIU Yande2. Research on Cooperative Modes and Tipping Stability of Multiple Mobile Robots [J]. China Mechanical Engineering, 2020, 31(20): 2472-2485. |
[8] | WANG Xinyu;QIN Wei;SUN Xiaojun;HU Xiaoliang. Nonlinear Synchronous Robust Control for 3-PPR Parallel Servo Platforms [J]. China Mechanical Engineering, 2020, 31(19): 2269-2275. |
[9] | FAN Zenghua1;RONG Weibin2 ;LIU Zixiao1 ;TIAN Yebing1. A Dynamic Detection Method of Capillary Forces Based on Microscopic Vision [J]. China Mechanical Engineering, 2020, 31(19): 2290-2294,2303. |
[10] | WU Jinhui1,2;TAO Yourui1,2. Review on Research Status of Positioning Accuracy Reliability of Industrial Robots [J]. China Mechanical Engineering, 2020, 31(18): 2180-2188. |
[11] | LI Yang1,2,3;LIU Ziming1,2,4;CHEN Qingying1,2,3. Decoupling Active Caster Omnidirectional Mobile Robot Tracking Control Considering Slip Interferences [J]. China Mechanical Engineering, 2020, 31(18): 2247-2253. |
[12] | YAO Haifeng1;LIU Wei2;ZHENG Xiaowen1;ZHANG Lansheng2;LIU Fuxin2;WU Miao1. Study on Posture Determination Method for Holes of Rock Drilling Robots with Improved Architecture [J]. China Mechanical Engineering, 2020, 31(18): 2254-2261,2267. |
[13] | YAO Jiantao;CHEN Xinbo;CHEN Juntao;WEI Chunjie;ZHANG Shuai;LI Haili;ZHAO Yongsheng. Design and Analysis of Soft Manipulator Teleoperation Systems [J]. China Mechanical Engineering, 2020, 31(16): 1968-1977. |
[14] | WANG Liang1;AN Xingyun2;ZHANG Xueqin2;WANG Yilin1;ZHANG Yisheng1. Research and Application of Variable Speed Cooperative Transfer Control Strategy of Dual Manipulators [J]. China Mechanical Engineering, 2020, 31(16): 1985-1990. |
[15] | LIU Hongyi, FAN Rui, GUO Jiangzhen, ZHANG Wei, ZHAO Qinzhi, CHEN Wuyi. Multi-axis Loading Device for Reliability Tests of CNC Machine Tools [J]. China Mechanical Engineering, 2020, 31(13): 1606-1612. |
Viewed | ||||||
Full text |
|
|||||
Abstract |
|
|||||