Gait Control of Modular Climbing Caterpillar Robot

被引：6

作者：

Wang, W. ^{[1
]}

Zhang, H. X. ^{[2
]}

Wang, K. ^{[3
]}

Zhang, J. W. ^{[2
]}

Chen, W. H. ^{[4
]}

机构：

[1] Univ Hamburg, Dept Informat, Hamburg, Germany

[2] Univ Hamburg, Dept Comp Sci, Inst Tech Aspects Multimodal Syst, D-22527 Hamburg, Germany

[3] Beijing Univ Aeronaut & Astronaut, Sch Mech Engn & Automat, Inst Robot, Beijing 100191, Peoples R China

[4] Beijing Univ Aeronaut & Astronaut, Ctr Elect & Elect Engn, Beijing 100191, Peoples R China

来源：

2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2009年

基金：

中国国家自然科学基金;

关键词：

LOCOMOTION;

D O I：

10.1109/AIM.2009.5229710

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The concept of a modular climbing caterpillar robot is inspired by the kinematics of the real caterpillar. Due to the fixed constraints between the suckers and wall, the gait of the caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain, and then to an open chain orderly. This paper investigates the joint control methods of the gait in detail. During the open chain periods, an Unsymmetrical Phase Method (UPM) is applied to ensure the reliable attachment of the passive suckers to the wall. But in the closed chain state, a four links kinematics model is adopted to fulfill the fixed constraints produced by the attached suckers. By combining the two methods together, we acquire complete joint control trajectories for a modular caterpillar robot with seven joints. At the end of this paper, on-site tests confirm the above principles and the validity of the climbing gait.

引用

页码：957 / +

页数：2

共 12 条

[1] Fast locomotion in caterpillars [J].