轮足复合移动机器人运动规划发展现状及关键技术分析
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自动化学院

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TP242

基金项目:

Stewart型轮足式机器人驱动与控制技术研究,国家自然科学基金项目(面上项目,重点项目,重大项目)


Development Status and Key Technology Analysis for Motion Planning of Wheel-legged Hybrid Mobile Robot
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Affiliation:

Beijing Institute of Technology

Fund Project:

Research on the Drive and Control Technology of Stewart Wheel-footed Robot

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    摘要:

    地面移动机器人已经在资源勘探和灾难救援等多领域得到广泛应用,轮足复合机器人能够结合轮式运动速度快、平稳性高和足式运动的高越障性能等多方面优势,在理论创新和工程技术方面均有重要的研究价值。对近年来国内外轮足复合机器人的机械结构进行分析和比较,将轮足机构复合方式主要分为四类进行列举和总结。针对多模态运动的优势展开分析,列举轮足复合机器人主要采用的运动建模、规划和控制策略,不仅涉及单独的足式运动和轮式运动,同时涉及足端越障、变构型避障、轨迹规划的轮足复合运动。在运动规划关键技术总结和展望时,指出轮足复合移动机器人后续的发展方向、研究思路和面临的挑战。

    Abstract:

    Ground mobile robots have been widely applied in many fields such as resource exploration and disaster rescue. The wheel-legged hybrid robot is capable of combining the fast speed and high stability of wheeled motion and high obstacle-negotiation performance of legged locomotion, which has high research value both in engineering technology and theoretical innovation. We analyzed and compared the domestic and overseas wheel-legged hybrid robot's mechanical structure, classifying the wheel-legged hybrid structure's combination mode as four types to make a list and summary. Focusing on the benefit of multi-modal motion to expand analysis, we enumerate the primary motion modeling, control, and planning strategy for the wheel-legged hybrid robot. It involved the single-legged locomotion and wheeled motion, as well as foot negotiation, deformable obstacle avoidance, and trajectory planning in wheel-legged hybrid locomotion. While making the conclusion and outlook for crucial technology in motion planning, we indicated the future development direction, research idea, and challenge for wheel-legged hybrid robots.

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历史
  • 收稿日期:2021-01-11
  • 最后修改日期:2021-04-04
  • 录用日期:2021-04-07
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