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新型跳跃机器人越障与俯仰控制特性研究。

Study of Obstacle-Crossing and Pitch Control Characteristic of a Novel Jumping Robot.

机构信息

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.

School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518052, China.

出版信息

Sensors (Basel). 2021 Apr 1;21(7):2432. doi: 10.3390/s21072432.

DOI:10.3390/s21072432
PMID:33916083
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8037127/
Abstract

In this study, we demonstrated a novel jumping robot that has the ability of accurate obstacle-crossing jumping and aerial pitch control. The novel robot can quickly leap high into the air with a powerful water jet thruster. The robot was designed to overcome multiple general obstacles via accurate jumping. Then a modified whale optimization algorithm (MWOA) was proposed to determine an optimized jumping trajectory according to the form of obstacles. By comparing with classical intelligent optimization algorithms, the MWOA revealed superiority in convergence rate and precision. Besides, the dynamics model of aerial pitch control was built and its effect was verified by the pitch control experiment. Lastly, the robot's obstacle-crossing experiments were performed and the results validated the robot's good ability of obstacle-crossing and aerial body righting. We believe the optimization of trajectory and the pitch control are of great help for the jumping robot's complex jumping and obstacle-crossing performance.

摘要

在这项研究中，我们展示了一种新型跳跃机器人，它具有准确跨越障碍物和空中俯仰控制的能力。新型机器人可以通过强大的水射流推进器快速高高跃起。机器人被设计用来通过准确跳跃来克服多个一般障碍物。然后，提出了一种改进的鲸鱼优化算法（MWOA），根据障碍物的形状来确定优化的跳跃轨迹。与经典智能优化算法相比，MWOA 在收敛速度和精度方面表现出优越性。此外，建立了空中俯仰控制的动力学模型，并通过俯仰控制实验验证了其效果。最后，进行了机器人的越障实验，实验结果验证了机器人良好的越障和空中身体扶正能力。我们相信轨迹优化和俯仰控制对跳跃机器人的复杂跳跃和越障性能有很大帮助。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/92ed/8037127/7a728ddfb345/sensors-21-02432-g014.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/92ed/8037127/7a728ddfb345/sensors-21-02432-g014.jpg

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