| 王立权,王海龙,陈曦.仿蟹机器人行走稳定性判定方法[J].高技术通讯(中文),2013,23(2):167~173 |
| 仿蟹机器人行走稳定性判定方法 |
| A walking stability judging method for crab like robots |
| 修订日期：2012-03-07 |
| DOI： |
| 中文关键词: 仿蟹机器人， 倾翻稳定性， 稳定锥， 力角稳定裕量（FASM） |
| 英文关键词: crab like robot, tipover stability, stability pyramid, force angle stability margin (FASM) |
| 基金项目:国家自然科学基金（60875067）和黑龙江省自然科学基金（ZD200911）资助项目 |
| 作者 | 单位 | | 王立权 | 哈尔滨工程大学机电工程学院 | | 王海龙 | 哈尔滨工程大学机电工程学院 | | 陈曦 | 哈尔滨工程大学自动化学院 |
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| 中文摘要: |
| 为了准确评价仿蟹机器人的行走稳定性及稳定裕度，提出了一种适用于多足机器人动态稳定性的判定方法。该方法首先分析引起机器人行走倾翻的各种干扰项，利用三维力传感器测量足端落地时的接触力，根据达朗贝尔原理将其向机器人质心等效获得质心点倾翻合力；然后结合实验得到八足仿蟹机器人质心波动，通过解空间矢量方程得到倾翻轴垂线矢量；最后将倾翻合力与倾翻轴垂线矢量相结合建立起力角稳定裕量（FASM）的数学模型，以归一化FASM的大小来间接判定机器人的稳定性。仿真和实验结果表明，该方法能够准确判定仿蟹机器人行走稳定性并动态显示稳定裕度变化 |
| 英文摘要: |
| In order to exactly evaluate the walking stability and stability margin of a crab like robot, a dynamic stability judging method suitable for multi legged walking robots is proposed based on analyzing a variety of interference that makes a robot to tipover. The method uses the three axis force sensor to measure the contact force between the foot of a robot and ground, and obtains the equivalent net tipping force relative to the centroid of the robot by using the D’s Alembert’s principle. Then, with the assistant experiment, the centroid fluctuation of the crab like robot is acquired，and the vertical line vector of tipover axis is obtained by solving the space vector equation. Finally, the mathematical model of force angle stability margin (FASM) is built by integrating the net tipping force with the vertical line vector of tipover axis, and the stability is determined based on the value of the normalized FASM. The simulation and experimental results show that the method can exactly judge the stability of crab like robots and dynamically display the change of stability margin |
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