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以蛇怪蜥蜴为仿生对象,设计了一种足式水上行走机器人.鉴于水面环境的复杂性,提出利用计算机仿真的方法构建足式水上行走机器人及其外界环境整个系统的数学模型.分析了现有的ZMP(zero moment point)算法难以适用足式水上行走机器人控制的原因,提出机器人的CPG(central pattern generator)模糊控制方法.设计了足式水上行走机器人的CPG控制器和模糊控制器,进行参数分析,完成了机器人整个控制系统的搭建,并进行了仿真验证.最后进行了机器人户外水上行走实验,测定了水上行走过程中的实时偏角.实验结果表明该控制方法有效.
Based on the complexity of water surface environment, a mathematical model of foot-mounted waterborne walking robot and its external environment system is proposed by using computer simulation method. Some ZMP (zero moment point) algorithm is not suitable for the control of foot-type waterborne walking robot, and proposed the CPG (central pattern generator) fuzzy control method of robot.Designed CPG controller and fuzzy controller of foot-type waterborne walking robot The parameter analysis is completed and the whole control system of the robot is built and verified by simulation.Finally, the outdoor walking test of the robot is carried out and the real-time declination angle is measured during the walking on water.The experimental results show that the control method is effective.