Ladder climbing control for limb mechanism robot “ASTERISK”
Ladder climbing control for limb mechanism robot “ASTERISK”
复制标题
DOI：
10.1109/robot.2008.4543674
复制
发表时间：
2008-05
期刊：
影响因子：
--
通讯作者：
S. Fujii;Kenji Inoue;T. Takubo;Y. Mae;T. Arai
中科院分区：
文献类型：
--
作者：
S. Fujii;Kenji Inoue;T. Takubo;Y. Mae;T. Arai
提出了一种适用于“ASTERISK”四肢机构机器人的爬梯运动。这个机器人有六条腿。上面的三条腿从两侧交替抓住上面的横档，就像捏一样。下面的三条腿以同样的方式抓住下面的横档。因此，机器人可以稳定地爬上梯子。根据机器人的姿势，当它抬起身体时，机器人会自动选择支撑机器人重量的腿，并根据它们的力缘将重量分配给这些腿。控制不能支撑力的腿始终与梯子接触，使机器人牢牢地抓住梯子。通过对支撑范围和力矩的分析，以及力分布的实验，验证了所提步态和控制方法的优越性。
A ladder climbing motion for limb mechanism robot "ASTERISK" is proposed. This robot has six legs. The upper three legs hold on the upper rung from its both sides alternately, just like pinching it. The lower three legs hold on the lower rung in the same way. Hence the robot can climb the ladder stably. Depending on the posture of the robot, when it lifts up its body, the robot automatically selects the legs supporting the robot's weight and distributes the weight to these legs based on their force margins. The legs which cannot support forces are controlled to always contact with the rungs so that the robot holds the ladder firmly. The advantages of proposed gait and control method are verified by the analysis of the supporting range and the torque, and by experiment on force distribution.