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Study on Autonomous Distributed Coordinate Function for Multi-Legged Robot with Adaptation in Unknown Environment

未知环境适应的多足机器人自主分布式坐标函数研究

基本信息

批准号：
11650460
负责人：
KUBOTA Takashi
金额：
$ 1.79万
依托单位：
Institute of Space and Astronautical Science
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

项目摘要

Autonomous distributed coordinate system has been studied focusing on multi-legged robot with adaptation in unknown environment. I have studied a small and lightweight rover, which can move across a rough terrain such as a steep slope inside craters. A prototype of the robot with six legs has been developed. I have studied the system concept, architecture, and configuration of the developed walking rover for planetary exploration. I could obtain the information on functions of each legs. I proposed a new walking algorithm based on some basic rules. The proposed algorithm can be applied to walking robots with any architecture. The validity of the proposed algorithm is shown by some computer simulations. I also could obtain the parameters on the walking performance. These parameters are very important to design and develop the walking algorithms.Then I proposed a walking scheme for static walking on a rough terrain. The body of walking robot could be controlled based on terrain information. By using the proposed method, walking robots can travel on rough terrain. The effectiveness of the proposed control scheme is shown by graphical simulations.I also proposed a new design concept on weight arrangement for light-weight robots which can travel in such rough terrain as craters and cliffs. The design analysis on static and dynamic motion was performed. The effectiveness was studied in detail from the viewpoint of the speed and energy consumption of walking robots. A small robot with six legs was developed to investigate the performance of the proposed design scheme. The validity and effectiveness of the proposed methods were confirmed and verified by computer simulations and experimental results.

针对多足机器人在未知环境下的自适应问题，研究了自主分布坐标系。我研究了一种小型轻便的探测车，它可以穿越崎岖的地形，比如陨石坑内的陡坡。有六条腿的机器人原型已经研制出来了。研究了研制的行星漫游车的系统概念、结构和配置。我可以获得每条腿的功能信息。我提出了一种新的基于一些基本规则的行走算法。该算法适用于任何结构的步行机器人。计算机仿真结果表明了该算法的有效性。我还可以得到关于步行性能的参数。这些参数对于步行算法的设计和开发是非常重要的。然后我提出了一个在崎岖地形上静态行走的步行方案。行走机器人的身体可以根据地形信息进行控制。采用该方法，行走机器人可以在崎岖地形上行走。通过图形仿真验证了所提控制方案的有效性。我还提出了一个新的设计概念，关于重量安排的轻型机器人，可以在凹凸不平的地形，如陨石坑和悬崖。对设计进行了静态和动态分析。从步行机器人的速度和能量消耗的角度对其有效性进行了详细的研究。开发了一个六足小型机器人来研究所提出的设计方案的性能。计算机仿真和实验结果验证了所提方法的正确性和有效性。