典型文献
Design,Implementation and Control of an Amphibious Spherical Robot
文献摘要：
We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments.Our aim was to improve the kinematic performance of spherical robots.We developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in water.The robot was equipped with an Inertial Measurement Unit(IMU)that provided inclination and motion information.We designed three types of walking gait for the robot,with different stabilities and speeds.Furthermore,we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable manner.As the system function changed continuously as the robot moved underwater,we implemented an online motion recognition system with a forgetting factor least squares algorithm.We proposed a generalized prediction control algorithm to achieve robust underwater motion control.To ensure real-time performance and reduce power consumption,the robot motion control system was implemented on a Zynq-7000 System-on-Chip(SoC).Our experimental results show that the robot's motion remains stable at different speeds in a variety of amphibious environments,which meets the requirements for applications in a range of terrains.
文献关键词：
中图分类号：
作者姓名：
Liwei Shi;Zhongyin Zhang;Zhengyu Li;Shuxiang Guo;Shaowu Pan;Pengxiao Bao;Lijie Duan
作者机构：
Key Laboratory of Convergence Medical Engineering System and Healthcare Technology,The Ministry of Industry and Information Technology,School of Life Science,Beijing Institute of Technology,Beijing 100081,China;Faculty of Engineering,Kagawa University,2217-20 Hayashicho,Takamatsu,Kagawa 761-0396,Japan
文献出处：
引用格式：
[1]Liwei Shi;Zhongyin Zhang;Zhengyu Li;Shuxiang Guo;Shaowu Pan;Pengxiao Bao;Lijie Duan-.Design,Implementation and Control of an Amphibious Spherical Robot)[J].仿生工程学报（英文版）,2022(06):1736-1757
A类：
Amphibious,gaits,amphibious
B类：
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AB值：
0.529875
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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。
