蛇形机器人控制系统的研制

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382868

William R. Hutchison, Betsy J. Constantine, Johann Borenstein, Jerry E. Pratt

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引用次数: 12

摘要

本文介绍了第七代(7G)控制系统对OmniTread OT-4机器人的控制的开发和测试。采用遗传算法、学习技术和解析规划技术相结合的迭代过程，在Yobotics三维模拟器上开发了OT-4的控制系统。通过对OT-4机器人的实验室控制，对仿真开发的控制系统进行了验证。实际的OT-4机器人在7G控制下，在楼梯、双杠、激流障碍和有障碍物的楼梯上的性能与控制系统开发所依据的模拟性能基本相符。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of Control for a Serpentine Robot

This paper describes the development and testing of control of the OmniTread OT-4 robot by the seventh generation (7G) control system. Control of OT-4 was developed in the Yobotics 3D simulator by an iterative process combining genetic algorithm, learning and analytic programming techniques. The control system developed in simulation was tested by controlling the real OT-4 robot in the laboratory. The performance of the real OT-4 robot under 7G control on stairs, parallel bars, a slalom course, and stairs with obstacles corresponded well to the simulated performance on which development of the control system was based.

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2007 International Symposium on Computational Intelligence in Robotics and Automation

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