轮式移动宜人机器人技术研究

轮式移动宜人机器人项目研究的主要目的是开发自主式仿人机器人样机 ,探索先进的机器人理论和技术。轮式移动宜人机器人由正交轮式移动平台、腰部、躯干及头部和双臂组成 ,共 2 1个自由度。整体结构包括 :电源系统、机械系统、控制系统和传感系统。电源系统采用车载电池供电。机械系统包括变刚度结构 ,提高了机器人与人交互作业的安全性。控制系统分为中央协调层和执行层结构。传感系统主要实现关节位置检测、姿态检测、力检测和视觉。文章讨论了此机器人的研究进展。

This paper describes a design concept of a humanoid with orthogonal wheel mobile. It is aimed at a prototype implementation of the humanoid. The humanoid includes a mobile platform, a waist, a trunk, a head and two arms, totally 21 DOF. It divides into mechanical system, power system, control system and sensor system. Rechargeable battery inside the humanoid is used as power supply. Mechanical system could adjust the rigidity to keep the safety. Control system consists of correspond control layer and servo control layer. Sensor system is equipped with joint potentiometer, 6-axis force sensor, gyro, accelerometer and two cameras. The state of the research is that the general concept is developed and the mobile platform is build up.

国家“8 63”资助项目 (2 0 0 1AA42 2 1 70 )