摘要
猫是一种灵巧擅长跳跃的动物,分析猫的跳跃,有助于启发改善跳跃机器人的机构,提高机器人跳跃灵活性。以家猫作为模本,提出了有腰部结构的仿猫机构模型,研制出仿猫机器人,利用动量守恒和拉格朗日方程,建立了机器人空中动力学模型。最后令机器人模仿一家猫跳跃过程中的腰部运动,观察机器人在空中不同情况下后脚尖的运动轨迹,得出结论机器人在空中的利用腰部进行姿态调整可以增加机器人越障高度,为机器人应对突发状况提供参考。
A domestic cat is an animal that is good at jumping.The analysis of the jumping of the domestic cat helps to inspire the mechanism of the hopping robot and improve the flexibility of the robot jumping.Taking the domestic cat as a model,a model for cat-like mechanism with a waist structure was proposed,a cat-like robot was developed,and a robotic aerial dynamics model was established by using momentum conservation and Lagrange equation.Finally,the robot follows the waist movement of a cat jumping process to observe the motion trajectory of the hind-toe of the robot in different situations in the air.It is concluded that the robot′s attitude adjustment by using the waist in the air allows the robot to cross higher obstacles,providing a reference for the robot to respond to emergencies.
作者
陈贵亮
张笑颜
杨冬
庄昌瑞
黄荣新
李铁军
Chen Guiliang;Zhang Xiaoyan;Yang Dong;Zhuang Changrui;Huang Rongxin;Li Tiejun(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)
出处
《机械科学与技术》
CSCD
北大核心
2020年第8期1196-1201,共6页
Mechanical Science and Technology for Aerospace Engineering
关键词
机器人
姿态调整
动量守恒
运动轨迹
robot
attitude control
momentum conservation
motion trajectory
