摘要：一個(gè)避障方法使用一個(gè)虛擬阻抗墻系統(tǒng),提出一種多有腿的機(jī)器人。擺動(dòng)腿使用合規(guī)控制使軟接觸,避免與物體碰撞,這樣機(jī)器人保持移動(dòng)方向盡可能而擺動(dòng)腿保持優(yōu)先操作區(qū)域。首選的操作區(qū)域與一個(gè)虛擬阻抗墻包圍。當(dāng)腿經(jīng)過(guò)閾值的首選操作區(qū)域,運(yùn)動(dòng)方向是通過(guò)虛擬斥力從虛擬阻抗墻避免工作區(qū)限制。此外,模式識(shí)別技術(shù)使用支持向量機(jī)實(shí)現(xiàn)估計(jì)接觸點(diǎn)之間在物體和身體通過(guò)使用數(shù)據(jù)集的誤差每條腿。虛擬阻抗字段被設(shè)置在估計(jì)接觸位置的角度直接回避。機(jī)器人是推動(dòng)和轉(zhuǎn)動(dòng)了虛擬斥力從阻抗場(chǎng)。這些被動(dòng)運(yùn)動(dòng)從虛擬阻抗模型可以提供一個(gè)好的解決方案,避免控制對(duì)象。的可行性提出了避障方法模擬和實(shí)驗(yàn)表明使用實(shí)際的機(jī)器人。
1,介紹
小機(jī)器人的發(fā)展為狹小的空間增加了先進(jìn)的年檢需要運(yùn)動(dòng)。最近,許多研究人員已經(jīng)開(kāi)發(fā)出輪或履帶式機(jī)器人進(jìn)行檢查,這些機(jī)器人似乎提供了一個(gè)很好的解決方案關(guān)于能源消費(fèi)和緩解的機(jī)制。然而,研究運(yùn)動(dòng)的步態(tài)和多連桿機(jī)器人還沒(méi)有完成,這些機(jī)器人的可行性有望在未來(lái)證明。
例如,盡管腿機(jī)器人可以執(zhí)行全方位的運(yùn)動(dòng),大多數(shù)輪/履帶機(jī)器人不能全方位移動(dòng)方向不改變。在遙感領(lǐng)域,這些機(jī)器人還可以使用內(nèi)部傳感器的致動(dòng)器作為觸角檢測(cè)最近的障礙。例如,相機(jī)和激光測(cè)距儀(LRFs)[1]-[11]是有用的但是有很多盲點(diǎn),所以他們的檢測(cè)區(qū)域可輔以觸角。本研究是為了促進(jìn)進(jìn)行實(shí)際應(yīng)用的步態(tài)運(yùn)動(dòng)。本文提出了一種先進(jìn)的基于多支走策略遷移和觸覺(jué)傳感的運(yùn)動(dòng)在一個(gè)狹小的空間。圖1顯示了一個(gè)示例的一個(gè)情況,呼吁狹小的空間運(yùn)動(dòng)。狹窄的空間精度要求嚴(yán)格的搭檔障礙檢測(cè),很難測(cè)量面積接近機(jī)器人的身體使用外部傳感器。這個(gè)結(jié)果在一個(gè)

Abstract— An obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so that the robot maintains the moving direction as far as possible while the swing legs maintain a preferred operating region. The preferred operating region is surrounded with a virtual impedance wall. When the leg passes over the threshold of the preferred operating region, the moving direction is modified by the virtual repulsive force from the virtual impedance wall to avoid the workspace limitation. Moreover, the pattern recognition technique using the support vector machine is implemented for estimating the contact point between the object and the body by using the data set of the error of each leg. The virtual impedance field is set at the estimated contact
position to direct the aspect of avoidance. The robot is pushed and rotated by the virtual repulsive force from the impedance field. These passive motions from the virtual impedance model can provide a good solution for object avoidance control. The feasibility of the proposed obstacle avoidance method is shown by simulations and experiments using actual robots.
I. INTRODUCTION
The development of small robots for narrow space inspection increases the need of advanced locomotion. Recently, numerous researchers have developed wheel or crawler type robots for inspection, and these robots appear to provide a very good solution regarding energy consumption and ease of mechanism. However, research on the motion of legged and multi-link robots is not yet complete, and the feasibility of these robots is expected to be demonstrated in the future. For example, although legged robots can perform omni-directional locomotion, most wheel/crawler robots cannot move omnidirectionally without changing direction. In the field of sensing, these robots can also use internal sensors of actuators as feelers for detecting the closest obstacles. For example,cameras and Laser Range Finders (LRFs) [1]-[11] are useful but have numerous blind spots, so their detection areas can be complemented by feelers. The present study is conducted in order to promote the practical application of legged locomotion.
The paper proposes an advanced walking strategy based on multi-legged locomotion and tactile