Realization of Adaptive gait patterns for a Quadruped Robot with 3-Dimerisional Recognition Ability

具有三维识别能力的四足机器人自适应步态模式的实现

基本信息

批准号：
15560220
负责人：
KAMANO Takuya
金额：
$ 2.37万
依托单位：
The University of Tokushima
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

项目摘要

Main results of this research are follows :1 Generation of fundamental gait patterns for a quadruped robot with CPG networkIn this research, a new Central Pattern Generator(CPG) within the dynamics of joint drive motor is proposed. The CPGs can drive the joints of leg periodically. The CPGs are connected mutually by the coupling parameters. The internal parameters and coupling parameters are adjusted by genetic algorithm so that the quadruped robot realizes the adequate actions. As a result of tuning, the fundamental gait patterns for three motion, linear motion, right and left turn motion are generated.2 Target tracking action using the tuned fundamental gait patterns based on image information.In this research, the tuned fundamental gait patterns are switched by the image information from small CCD camera mounted on the robot. After the robot searches the target, the robot can approach the target in combination with tuned three fundamental gait patterns.3 3-dimensional avoidance motion for obstacles based on environment recognition abilityTo detect the obstacles in forward direction, the ultrasonic sensors and a photo sensor are mounted on top and bottom of the robot. The detected obstacles are classified into three types of obstacles ; roundabout avoidance obstacles, going under and going over obstacles. To achieve the adequate avoidance, the suitable gait patterns are selected for the detected obstacles.4 Stability control of robot attitude using the upsetting danger degreeThe upsetting danger degree for the quadruped robot is defined. The stability control of the robot is realized on the rocking floor so that the upsetting danger degree reduces to zero. As a result of stability control, the robot body can be kept to flat level.

这项研究的主要结果如下：通过CPG Network在这项研究中的四足机器人的基本步态模式，这是一个研究，这是一个新的中央模式生成器（CPG），其中提出了关节驱动器电机动力学中的一个新的中央模式生成器（CPG）。 CPG可以定期驱动腿的关节。 CPG通过耦合参数相互连接。内部参数和耦合参数是通过遗传算法调整的，以便四足机器人实现适当的动作。调整的结果是，生成了三个运动，线性运动，左右转弯运动的基本步态模式。2目标跟踪基于图像信息的调谐基本步态模式。在这项研究中，调谐的基本步态模式由安装在机器机器上的小型CCD摄像头的图像信息切换。机器人搜索目标后，机器人可以与调整的三个基本步态模式结合使用目标。33维回避运动基于基于环境识别能力，可以在向前方向上检测障碍物，超声传感器和照片传感器安装在机器人的顶部和底部。被检测到的障碍分为三种类型的障碍。回旋处的回避障碍，陷入困境。为了实现足够的回避，为检测到的障碍选择了合适的步态模式。4稳定态度的稳定性控制使用危险的危险degreth degreeth degreth degreth degreth deg degruped机器人的危险程度。机器人的稳定控制在摇摆地板上实现，因此令人沮丧的危险程度将减少到零。由于稳定性控制，机器人体可以保持平坦水平。