Tough terrain walking algorithm for cockroach robot

被引：0

作者：

Chen, Bin ^{[1
]}

Wang, Jianhua ^{[1
]}

Chen, Weihai ^{[1
]}

Ren, Guanjiao ^{[1
]}

机构：

[1] School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

来源：

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2011年 / 37卷 / 07期

关键词：

Bearing capacity - C (programming language) - Landforms - Roads and streets - Kinematics - Rigidity;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

To solve bad system rigidity and weak bearing capacity of series connecting mechanism, the couple four-bar linkage mechanism was proposed, which can synthesis advantages of existing mechanism. The cockroach robot based on couple four-bar linkage achieved moving agilely, good rigidity, strong bearing capacity and decoupling control. Built the mathematical module of this mechanism, used basic theory of linkage and mathematical of robot analyzed the backward kinematics and forward kinematics of the cockroach robot, then got an algorithm to control it walk on the flat road. Used force sensing resistor (FSR) and photoelectric switches to check whether foots' end have stand on the road. For walking fast on the tough terrain, a new planning for the track of foot was proposed. An algorithm was designed integrated the kinematics which can achieve by C Program. At last an experiment was designed. The results verify the algorithm can control the robot walk on the tough terrain as fast as 10 cm/s.

引用

页码：795 / 800