中国机械工程
中國機械工程
중국궤계공정
CHINA MECHANICAl ENGINEERING
2012年
5期
505-514
,共10页
丁良宏%王润孝%冯华山%李军
丁良宏%王潤孝%馮華山%李軍
정량굉%왕윤효%풍화산%리군
BigDog四足机器人%液压执行器%仿生学%运动控制%导航%LittleDog
BigDog四足機器人%液壓執行器%倣生學%運動控製%導航%LittleDog
BigDog사족궤기인%액압집행기%방생학%운동공제%도항%LittleDog
BigDog quadruped robot%hydraulic actuator%bionics%locomotion control%navigation%LittleDog
根据BigDog四足机器人目前已经公开的技术资料,对BigDog机器人的整体概况和主要核心技术点进行了分析。机械系统重点分析了BigDog的结构特性和运动特性,以及由此产生的高功率密度问题;通过剖析BigDog液压驱动系统基本构成,发现结构仿生的缺陷限制了BigDog机动性能的进一步提升。研究表明,复杂地形条件下BigDog的运动控制首先取决于姿态的检测和地形的感知,姿态安全是BigDog实现持续纵向运动的前提条件。基本行走控制算法研究表明,液压系统的输出特性,能良好地满足BigDog的动力需求;通过几种典型的运动状态分析,对BigDog的控制实现过程进行了诠释。因非结构化环境移动机器人的智能性主要取决于导航系统的设计,故重点分析了BigDog的导航系统,特别是全自主导航部分。最后结合课题组四足机器人的研究经历,对四足机器人的研发提出了一些建议。
根據BigDog四足機器人目前已經公開的技術資料,對BigDog機器人的整體概況和主要覈心技術點進行瞭分析。機械繫統重點分析瞭BigDog的結構特性和運動特性,以及由此產生的高功率密度問題;通過剖析BigDog液壓驅動繫統基本構成,髮現結構倣生的缺陷限製瞭BigDog機動性能的進一步提升。研究錶明,複雜地形條件下BigDog的運動控製首先取決于姿態的檢測和地形的感知,姿態安全是BigDog實現持續縱嚮運動的前提條件。基本行走控製算法研究錶明,液壓繫統的輸齣特性,能良好地滿足BigDog的動力需求;通過幾種典型的運動狀態分析,對BigDog的控製實現過程進行瞭詮釋。因非結構化環境移動機器人的智能性主要取決于導航繫統的設計,故重點分析瞭BigDog的導航繫統,特彆是全自主導航部分。最後結閤課題組四足機器人的研究經歷,對四足機器人的研髮提齣瞭一些建議。
근거BigDog사족궤기인목전이경공개적기술자료,대BigDog궤기인적정체개황화주요핵심기술점진행료분석。궤계계통중점분석료BigDog적결구특성화운동특성,이급유차산생적고공솔밀도문제;통과부석BigDog액압구동계통기본구성,발현결구방생적결함한제료BigDog궤동성능적진일보제승。연구표명,복잡지형조건하BigDog적운동공제수선취결우자태적검측화지형적감지,자태안전시BigDog실현지속종향운동적전제조건。기본행주공제산법연구표명,액압계통적수출특성,능량호지만족BigDog적동력수구;통과궤충전형적운동상태분석,대BigDog적공제실현과정진행료전석。인비결구화배경이동궤기인적지능성주요취결우도항계통적설계,고중점분석료BigDog적도항계통,특별시전자주도항부분。최후결합과제조사족궤기인적연구경력,대사족궤기인적연발제출료일사건의。
Based on the current technical information of a BigDog quadruped robot which was released,the overall profile and the core technology of the BigDog robot were analyzed herein.Structural characteristics,motion characteristics and high power density issues arising from these were analyzed emphatically in the mechanical system.The basic components of the BigDog＇s hydraulic drive system were analyzed briefly.Biomimetic structure defects restricted the BigDog＇s maneuverability to further promotion.In rough terrain,the motion control of BigDog firstly depends on the detection of body posture and perception of the terrain.Security posture is the prerequisite for BgDog＇s continuous longitudinal motion.The basic walking control algorithm was analyzed briefly.The output characteristics of the hydraulic system just meet BigDog＇s dynamic requirements.Control implementation process was known by analyzing several typical states of motion.Navigation system of BigDog,in particular fully autonomous navigation part is the emphasis.In unstructured environments,the intelligence of mobile robot mainly depends on the design of navigation system.At last,based on author＇s research experience on quadruped robot,some suggestions of the research and development on the quadruped robot were proposed.
