通过移动质心改善变形机器人在车态与人形态下的运动稳定性。
COM Adjustment Mechanism Control for Multi-Configuration Motion Stability of Unmanned Deformable Vehicle
- 设计可移动质心机构，动态调节机器人重心位置。
- 车态转向稳定性与人形态行走稳定性均显著提升。
- 适合研究变形机器人、双模态运动控制的学者参考。
无人变形车辆是一种可在车状和人形状态间转换的轮腿式机器人，具有不同的运动模式与稳定性特征。为解决多构型下的运动稳定性问题，本文设计了一种质心调整机构，并提出一种分层运动稳定性控制算法，建立了基于二自由度质心调整机构的机电模型。构建了无人变形车辆车态稳态转向动力学模型及人形态步态规划运动学模型，设计了稳定性分层控制策略以实现稳定控制。实验结果表明，通过控制滑块运动，可显著提升车态稳态转向稳定性与人形态步行稳定性。
原文摘要 · Abstract (English)
An unmanned deformable vehicle is a wheel-legged robot transforming between two configurations: vehicular and humanoid states, with different motion modes and stability characteristics. To address motion stability in multiple configurations, a center-of-mass adjustment mechanism was designed. Further, a motion stability hierarchical control algorithm was proposed, and an electromechanical model based on a two-degree-of-freedom center-of-mass adjustment mechanism was established. An unmanned-deformable-vehicle vehicular-state steady-state steering dynamics model and a gait planning kinematic model of humanoid state walking were established. A stability hierarchical control strategy was designed to realize the stability control. The results showed that the steady-state steering stability in vehicular state and the walking stability in humanoid state could be significantly improved by controlling the slider motion.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。