To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists ...To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.展开更多
为了解决移动机器人快速精准检测和跟踪目标的问题,提出一种基于目标颜色和目标形状的自主跟踪目标的算法,该算法在TLD(tracking-learning-detection)框架下,用KCF(核相关滤波器)算法在TLD(tracking-learning-detection)框架下替换的跟...为了解决移动机器人快速精准检测和跟踪目标的问题,提出一种基于目标颜色和目标形状的自主跟踪目标的算法,该算法在TLD(tracking-learning-detection)框架下,用KCF(核相关滤波器)算法在TLD(tracking-learning-detection)框架下替换的跟踪器,并采用HOG(Histogram of Gradient)特征和CN(Color Names)颜色特征的目标识别方法,让HOG特征与CN颜色特征相互补充,并在该算法的基础上设计了一款基于视觉目标跟踪的全向轮移动机器人。实验结果表明,该目标跟踪算法具有较好的实时性、精准度和鲁棒性,提升机器人在遮挡处理和目标丢失等情况的鉴别能力。采用该视觉目标跟踪的机器人的目标跟踪精度可以达到91.5%,跟踪成功率达到71.2%。展开更多
目前我国缺乏口岸致灾因子智能查验装备,高度依赖人工作业,影响样品检验效果,对检验人员的生命安全造成威胁。基于颗粒介质地面力学模型,设计了一款新型螺旋轮式移动机器人,通过实验验证其动力学模型的准确性,在松散环境中具备较好的越...目前我国缺乏口岸致灾因子智能查验装备,高度依赖人工作业,影响样品检验效果,对检验人员的生命安全造成威胁。基于颗粒介质地面力学模型,设计了一款新型螺旋轮式移动机器人,通过实验验证其动力学模型的准确性,在松散环境中具备较好的越障性能。使用机器人操作系统(Robot Operating System 2,ROS2)作为控制平台,搭载多种传感器实现建图、定位、导航及远程可视化等功能。实验表明,设计的移动机器人可以有效实现在松散环境中的复杂运动,为搭载采样、杂质检测等功能性平台的开发提供可行性。展开更多
Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new ...Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.展开更多
基金supported by the National High Technology Research and Development Program of China ("863" Program) (Grant No. 2007AA041502-5)the Technology and Innovation Fund of the Chinese Academy of Sciences
文摘To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.
文摘为了解决移动机器人快速精准检测和跟踪目标的问题,提出一种基于目标颜色和目标形状的自主跟踪目标的算法,该算法在TLD(tracking-learning-detection)框架下,用KCF(核相关滤波器)算法在TLD(tracking-learning-detection)框架下替换的跟踪器,并采用HOG(Histogram of Gradient)特征和CN(Color Names)颜色特征的目标识别方法,让HOG特征与CN颜色特征相互补充,并在该算法的基础上设计了一款基于视觉目标跟踪的全向轮移动机器人。实验结果表明,该目标跟踪算法具有较好的实时性、精准度和鲁棒性,提升机器人在遮挡处理和目标丢失等情况的鉴别能力。采用该视觉目标跟踪的机器人的目标跟踪精度可以达到91.5%,跟踪成功率达到71.2%。
文摘目前我国缺乏口岸致灾因子智能查验装备,高度依赖人工作业,影响样品检验效果,对检验人员的生命安全造成威胁。基于颗粒介质地面力学模型,设计了一款新型螺旋轮式移动机器人,通过实验验证其动力学模型的准确性,在松散环境中具备较好的越障性能。使用机器人操作系统(Robot Operating System 2,ROS2)作为控制平台,搭载多种传感器实现建图、定位、导航及远程可视化等功能。实验表明,设计的移动机器人可以有效实现在松散环境中的复杂运动,为搭载采样、杂质检测等功能性平台的开发提供可行性。
文摘Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.
