Modeling and Control of a Lizard-Inspired Single-Actuated Robot
Modeling and Control of a Lizard-Inspired Single-Actuated Robot
复制标题
受蜥蜴启发的单驱动机器人的建模和控制
DOI：
10.1109/lra.2022.3171919
复制
发表时间：
2022
影响因子：
5.2
通讯作者：
Itoh Hiroshi
中科院分区：
文献类型：
--
作者：
Noji Shouhei;Nansai Shunsuke;Kamamichi Norihiro;Itoh Hiroshi
在这项研究中，利用一种新颖的形态实现了受蜥蜴启发的单驱动机器人（LISA）的轨迹跟踪控制。运动学分析结果与实际机器人的行为之间具有高度的可重复性。已经提出了几种 1 自由度 (DOF) 驱动的机器人。然而，由于其固有的形态限制，这些机器人的应用受到严重限制。 LISA 是一款多足机器人，可以克服这些缺点并以一自由度推进和转动。在本研究中，我们制定了 LISA 的运动学原理，例如转动角度和步幅长度。此外，定义了唯一的机器人坐标，以实现关键机器人状态量的对称表示。接下来，设计了基于比例积分微分（PID）控制的轨迹跟踪控制系统，并通过实验和数值模拟进行了验证。最后，根据均方根对实验和数值模拟的结果进行定量比较，并讨论运动学分析的再现性和实际系统的行为。本研究做出以下贡献：（1）LISA的形态有助于仅通过运动学分析获得分析结果，这比动力学分析简单得多。 (2) LISA 对于所需的运动实现了足够好的运动学性能。实验表明，设计的轨迹跟踪控制系统允许 LISA 适当地跟踪多种类型的轨迹。
In this study, trajectory-tracking control for a lizard-inspired single-actuated robot (LISA) is implemented using a novel morphology. A high degree of reproducibility is obtained between the results of kinematic analysis and the behavior of the actual robot. Several 1-degree-of-freedom (DOF)-driven robots have been proposed. However, the application of these robots is severely restricted because of their inherent morphology limitations. LISA is a multilegged robot that can overcome these disadvantages and propel and turn with 1-DOF. In this study, we formulate the kinematics, such as the turning angle and stride length, of LISA. Furthermore, a unique robot coordinate is defined to enable the symmetrical representation of critical robot state quantities. Next, a trajectory-tracking control system based on the proportional-integral-derivative (PID) control is designed, and it is verified by both experiments and numerical simulations. Finally, the results of the experiments and numerical simulations are quantitatively compared according to the root mean square, and the reproducibility of the kinematics analysis and the behavior of the actual system are discussed. This study makes the following contributions: (1) The morphology of LISA facilitates analytical results with only kinematic analysis, which is considerably simpler than dynamics analysis. (2) LISA achieved sufficiently good kinematic performance for the required motions. Experiments revealed that the designed trajectory-tracking control system allows for LISA to appropriately track several types of trajectories.