轮-腿复合移动机器人构型控制及越障策略

本文构型和越障控制研究的是如何控制机器人的姿态和如何控制机器人以一系列的构型翻越障碍物,构型及越障控制是轮-腿复合移动机器人技术领域的研究重点,针对轮-腿复合移动机器人的结构特点以及早期方法存在的不足,本文提出了在不平整地面上的构型控制方法和针对沟、坎典型地形环境的越障控制策略,并利用六轮-腿复合移动机器人试验平台开展了验证实验。

In this paper,reconfiguration control and obstacle-negotiation control are the study of how to control the robot s gesture and how to overcome the obstacles via a serial of gestures,these are the intensive topics in the filed of leg-wheel hybrid robot.Based on the analysis of leg-wheel hybrid structure and the disadvantage of early control method,this paper proposes new strategies of reconfiguration control in uneven terrain and auto-overcoming control for channel,ridge etc,These strategies are experimented...