Planning and control of stable ladder climbing motion for the four-limbed Robot “WAREC-1”
Planning and control of stable ladder climbing motion for the four-limbed Robot “WAREC-1”
复制标题
四肢机器人“WAREC-1”稳定爬梯运动的规划与控制
DOI：
10.1109/iros.2017.8206565
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
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作者：
Xiao Sun;K. Hashimoto;Tomotaka Teramachi;T. Matsuzawa;S. Kimura;Nobuaki Sakai;S. Hayashi;Y. Yoshida;A. Takanishi
本文介绍了一种使WAREC-1四足机器人能够稳定地爬上爬下垂直梯子的方法。首先，介绍了WAREC-1四足机器人，提出了多质量爬梯模型下的动态稳定性条件，作为判断四足机器人爬垂直梯子时是否稳定的依据。根据所提出的稳定性条件，3种不同的力矩将直接影响梯形机器人的稳定性：重力力矩、惯性力矩和反力力矩。通过对这三种力矩及其相互关系的分析，提出了稳定控制方法，以最大限度地保持梯形机器人的稳定性，避免它们之间的相互干扰。结合所提出的稳定性条件和稳定性控制，本文还提出了一种在轨迹规划中允许路径和时间规划独立的运动规划方法，以提高稳定性控制的效率。最后，仿真和物理机器人的结果验证了所提出的控制方法的有效性。
This paper describes an approach that enables the four-limbed robot “WAREC-1” to climb up and down vertical ladders stably. First, the four-limbed robot “WAREC-1” is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a four-limbed robot is stable or not while climbing a vertical ladder. According to the proposed stability conditions, 3 different types of moment will directly affect the stability of the robot on a ladder: gravitational moment, inertial moment and reaction force moment. With the analysis of these 3 kinds of moments and the relationship among them, stability control methods are proposed to maintain stability of the robot on a ladder to the greatest degree and avoid their mutual interference. Combining with the stability conditions and stability control proposed, stable motion planning of climbing up and down a vertical ladder, a motion planning method proposed by the authors that allows independent path and time planning in trajectory planning is also applied to reinforce the efficiency of the stability control. Eventually, results from the simulation and physical robot verify the validity of the proposed control methods.