Study on Self-excitation On-Off Drive Controled Hopping Robot without Absolute Position Sensor Arm

无绝对位置传感器臂自激开关驱动控制跳跃机器人的研究

基本信息

批准号：
09650290
负责人：
KOIZUMI Kunio
金额：
$ 1.09万
依托单位：
Toyama University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1998
项目状态：
已结题

项目摘要

The hopping and jumping miniature robot without an absolute position sensor for the body was developed in this study. The machine is constitued with a vibration system by springs such as muscles, and excited with the on-off drive controled self-excitation for absorbtion of the effect of perturbation on the motion. The flight absolute body position and velocity can be estimated from relative position deta between the body and leg with an internal sensor. In the instant of landing, the relative value equals to the absolute value. The absolute position of the body is calculated by sum of the relative position value at landing as the base position value and the relative measuring position over the next flight motion. This idea had successful in loose the machine from restraint of the position measuring sensor arm, and delivered of the complite free flight body. The base value of the absolute body position is renewed every landing, therfore, the body position error doesn't increase and the steady-state motion must possibly continue. The machine is excited with a linear solenoide and it's motion is measured by twin strain gauges as the internal relative displacement sensor in the 1st trial. For direction and posture control, the body is inclined by draw of steel chips pasted with 4 assistant legs for magnets on the body. This robot was named the spider type based on it's configulation and behavior. The experimental results agreed approximately with results of the theoretical analysis. In the case of jumping, the theoretical solution couldn't be discovered in the conditions of the experimental apparatus, but the existence of the notion was confirmed in experiment. An octopus type hopping robot will also study to expand the widely applications in future.

本研究开发了一种不带身体绝对位置传感器的跳跃微型机器人。该机械由肌肉等弹簧构成振动系统，通过开关驱动控制的自激励磁来吸收运动的扰动影响。飞行的绝对身体位置和速度可以通过内部传感器根据身体和腿部之间的相对位置数据来估计。在落地的瞬间，相对值就等于绝对值。身体的绝对位置是通过着陆时作为基准位置值的相对位置值与下一次飞行运动时的相对测量位置之和来计算的。这个想法成功地使机器摆脱了位置测量传感器臂的束缚，并实现了完整的自由飞行机身。绝对身体位置的基准值每次着陆都会更新，因此身体位置误差不会增加，稳态运动必须继续下去。在第一次试验中，机器由线性螺线管激励，其运动由双应变片作为内部相对位移传感器测量。为了控制方向和姿势，通过钢片的牵引使身体倾斜，身体上粘贴有 4 个磁铁辅助腿。该机器人根据其配置和行为被命名为蜘蛛型。实验结果与理论分析结果基本吻合。在跳跃的情况下，在实验装置的条件下无法找到理论解决方案，但实验证实了这一概念的存在。未来还将研究章鱼型跳跃机器人，以扩大其广泛应用。