Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction
المؤلفون المشاركون
Zhang, Feifei
Zhang, Liang
Zhu, Yaguang
Zhou, Shuangjie
المصدر
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-9، 9ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-09-25
دولة النشر
مصر
عدد الصفحات
9
التخصصات الرئيسية
الملخص EN
Posture-position control is the fundamental technology among multilegged robots as it is hard to get an effective control on rough terrain.
These robots need to constantly adjust the position-posture of its body to move stalely and flexibly.
However, the actual footholds of the robot constantly changing cause serious errors during the position-posture control process because their foot-ends are basically in nonpoint contact with the ground.
Therefore, a position-posture control algorithm for multilegged robots based on kinematic correction is proposed in this paper.
Position-posture adjustment is divided into two independent motion processes: robot body position adjustment and posture adjustment.
First, for the two separate adjustment processes, the positions of the footholds relative to the body are obtained and their positions relative to the body get through motion synthesis.
Then, according to the modified inverse kinematics solution, the joint angles of the robot are worked out.
Unlike the traditional complex closed-loop position-posture control of the robot, the algorithm proposed in this paper can achieve the purpose of reducing errors in the position-posture adjustment process of the leg-foot robot through a simple and general kinematic modification.
Finally, this method is applied in the motion control of a bionic hexapod robot platform with a hemispherical foot-end.
A comparison experiment of linear position-posture change on the flat ground shows that this method can reduce the attitude errors, especially the heading error reduced by 55.46%.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Zhang, Liang& Zhu, Yaguang& Zhang, Feifei& Zhou, Shuangjie. 2020. Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction. Journal of Robotics،Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1190279
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Zhang, Liang…[et al.]. Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction. Journal of Robotics No. 2020 (2020), pp.1-9.
https://search.emarefa.net/detail/BIM-1190279
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Zhang, Liang& Zhu, Yaguang& Zhang, Feifei& Zhou, Shuangjie. Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1190279
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1190279
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر