Master-Slave Control of a Bio-Inspired Biped Climbing Robot

被引：0

作者：

Lei, Ting ^{[1
,2
]}

Wei, Haibin ^{[3
]}

Zhong, Yu ^{[3
]}

Zhong, Liqiang ^{[1
,2
]}

Zhang, Xiaoye ^{[1
,2
]}

Guan, Yisheng ^{[3
]}

机构：

[1] Guangdong Power Grid Co Ltd, Elect Power Res Inst, Guangzhou, Peoples R China

[2] Guangdong Diankeyuan Energy Technol Co Ltd, Guangzhou, Peoples R China

[3] Guangdong Univ Technol, Sch Electromech Engn, Guangzhou, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS | 2020年 / 12595卷

关键词：

Master-slave control; Climbing robot; Tele-operation; Master robot;

D O I：

10.1007/978-3-030-66645-3_17

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Biped climbing robot is able not only to climb a variety of media, but also to grasp and manipulate objects. It is just like a "mobile" manipulator, and it has great application prospects in high-rise tasks in agriculture, forestry, and architecture fields. Motivated by these potential applications, design of a climbing robot (Climbot) was proposed in this study, and a modular master robot, isomorphic to the Climbot was designed. Then, a master-slave robot system with joint-to-joint mapping strategy was developed, which was com-bined with the Climbot and master robot. In this system, the master robot could control the slave robot intuitively, and experiments on climbing poles were conducted to verify the feasibility and efficiency of the proposed master-slave robot system.

引用

页码：195 / 204

页数：10

共 50 条

[11] A Bio-Inspired Implementation of Walking and Stair Climbing on a Quadruped Robot
Sarmah, Anurag Narayan
Boruah, Abhijit
Kalita, Daisy
Neog, Darshana
Paul, Saumay
[J]. 8TH INTERNATIONAL CONFERENCE ON ADVANCES IN COMPUTING & COMMUNICATIONS (ICACC-2018), 2018, 143 : 671 - 677
[12] A Bio-inspired Climbing Robot: Dynamic Modelling and Prototype Development
Patra, Asesh
Patel, Meet
Chattopadhyay, Priyabrata
Majumder, Anubhab
Ghoshal, Sanjoy Kumar
[J]. RECENT ADVANCES IN MECHANICAL ENGINEERING, NCAME 2019, 2020, : 191 - 209
[13] Master-slave quadruped walking robot
Aoshima, S
Sato, F
Shiraishi, M
[J]. RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS, 1997, : 148 - 153
[14] Robust Control Techniques for Master-Slave Surgical Robot Manipulator
Qureshi, Mohd Salim
Kaki, Gopi Nath
Swarnkar, Pankaj
Gupta, Sushma
[J]. HARMONY SEARCH AND NATURE INSPIRED OPTIMIZATION ALGORITHMS, 2019, 741 : 599 - 609
[15] Design and Motion Control of Master-Slave Control Endotracheal Intubation Robot
Qi, Qian
Lv, Junqi
Sun, Ke
Sun, Yi
Jiang, Andong
Ji, Aihong
[J]. INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2024, 20 (04):
[16] Grasping Force Control of a Master-slave Robot Finger System
Wang, Xuelin
Xiao, Yongfei
Fan, Xinjian
Zhao, Yongguo
[J]. 2012 2ND INTERNATIONAL CONFERENCE ON APPLIED ROBOTICS FOR THE POWER INDUSTRY (CARPI), 2012, : 440 - 443
[17] Research and Implementation of Master-Slave Control for Interventional Robot System
Xie Qingcheng
Chen Guo
Han Shipeng
[J]. 2017 2ND ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS (ACIRS), 2017, : 234 - 239
[18] Design of a Master-Slave Composite Wall Climbing Robot System for Penstock Assembly Welding
Zhu, Jiashe
Sun, Zhenguo
Huang, Wei
Chen, Qiang
[J]. INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT II, 2019, 11741 : 123 - 134
[19] DIEES biped robot: A bio-inspired pneumatic platform for human locomotion analysis and stiffness control
Spampinato, Giacomo
Muscato, Giovanni
[J]. 2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, 2006, : 478 - +
[20] Design of Robot Master-slave Control System Based on LabVIEW
Zhang, Yanfei
Xiao, Xiao
Gong, Jinliang
Wei, Xiuting
[J]. RECENT TRENDS IN MATERIALS AND MECHANICAL ENGINEERING MATERIALS, MECHATRONICS AND AUTOMATION, PTS 1-3, 2011, 55-57 : 654 - 657

← 1 2 3 4 5 →