Analysis of Gait Control of Wall-Climbing Caterpillar Robot

被引：5
|
作者：
Li, D. Z. [1 ]
Ma, X. Y. [1 ]
Wang, K. [1 ]
Wang, W. [1 ]
Zhang, H. X. [2 ]
Zong, G. H. [1 ]
机构：
[1] Beihang Univ, Sch Mech Engn & Automat, Inst Robot, Beijing 100191, Peoples R China
[2] Univ Hamburg, Inst Tech Aspects Multimodal Syst, Dept Comp Sci, D-22527 Hamburg, Germany
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 | 2009年
基金：
中国国家自然科学基金; 国家高技术研究发展计划(863计划);
关键词：
D O I：
10.1109/ROBIO.2009.5420548
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four links kinematical method, a wall-climbing caterpillar robot based on vibrating suction method is developed. An experiment of wall-climbing confirms the kinematical method mentioned above. The result shows that the four links kinematical method is simple and reliable although some errors exist. At last, the conclusions and future works are present.
引用
收藏
页码：1929 / +
页数：3
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