典型文献
Bionics-based Optimization of Step-climbing Gait in a Novel Mini-RHex Robot
文献摘要：
RHex-style robots can perform manifold moving gaits in different applications,but they have always faced a challenge of climbing up high obstacles.In this paper,the bionics-based gait optimization in an RHex-style robot is proposed for climbing steps at different heights,which even enables the robot to climb up the step with 4.2 times of the leg length.First,a thoracic flexion is designed in the robot,and an algorithm of adjusting body inclination is proposed to perform the rising stage after placing front legs on top of step,which can be applied in different RHex-style robots with different sizes.Especially,when the thoracic flexion is implemented,the robot can climb the higher step with the proposed algorithm.Second,to climbing the higher steps,a claw-shape legs-based algorithm is proposed for robot reaching the higher step and climbing it up.Dur-ing the vital rising stage,when the front legs of the robot have reached the top of the step,the robot can bend the front body downward with its thoracic flexion like a cockroach,and then lift the front and middle legs alternately to move COM up and forward onto the step.The simulation analysis is utilized to verify the feasibility of the proposed algorithms.Finally,the step-climbing experiments at different heights are performed in our robot to compare with the existing works.The results of simulations and experiments show the superiority of the proposed algorithms for the improved robot due to climbing up the higher steps.
文献关键词：
中图分类号：
作者姓名：
Xingguo Song;Jiajun Pan;Xiaolong Zhang;Chunjun Chen;Danshan Huang
作者机构：
Mechanical Engineering School,Southwest Jiaotong University,Chengdu 610031,China;41st Detachment,Unit 32272,Chinese People's Liberation Army,Deyang 618408,China
文献出处：
引用格式：
[1]Xingguo Song;Jiajun Pan;Xiaolong Zhang;Chunjun Chen;Danshan Huang-.Bionics-based Optimization of Step-climbing Gait in a Novel Mini-RHex Robot)[J].仿生工程学报（英文版）,2022(03):616-628
A类：
Bionics,RHex,gaits,bionics,cockroach
B类：
Optimization,Step,climbing,Gait,Novel,Mini,Robot,style,robots,can,manifold,moving,different,applications,but,they,have,always,faced,challenge,obstacles,In,this,paper,optimization,proposed,steps,heights,which,even,enables,times,length,First,thoracic,flexion,designed,adjusting,body,inclination,rising,stage,after,placing,front,legs,top,applied,sizes,Especially,when,implemented,higher,Second,claw,shape,reaching,Dur,vital,reached,bend,downward,like,then,lift,middle,alternately,move,COM,forward,onto,analysis,utilized,verify,feasibility,algorithms,Finally,experiments,performed,our,compare,existing,works,results,simulations,show,superiority,improved,due
AB值：
0.391676
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
