具有滚动运动的轮蛛:建模与仿真

2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-04-09 DOI:10.1109/ICARA.2015.7081170

Takuma Nemoto, R. E. Mohan, Shunsuke Nansai, M. Iwase

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引用次数: 4

摘要

本研究旨在建立能够捕捉滚动运动的“轮蜘蛛”行为的数学模型，并分析其行为特征，以实现机器人的仿生运动。因此，将地面上的约束作用于无地面的轮蜘蛛模型，并考虑碰撞引起的速度变换，建立滚动轮蜘蛛模型。结果表明，无论是否设置初速度，轮蛛都以恒定的滚动速度下坡。综上所述，在不提供初始速度的情况下，轮悬架可以在一定的俯仰范围内顺坡而下。

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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Wheel spider with rolling locomotion: Modeling and simulation

This study aims to develop mathematical model which can capture behavior of “wheel spider” that can perform rolling locomotion and analyze characteristics of the behavior to realize biologically inspired locomotion by robots. Therefore, a rolling wheel spider model is developed by applying constraint force on the ground to a wheel spider model without the ground and considering velocity transformation due to collision. As a result, it was found that the wheel spider goes downhill at a constant speed with rolling whether it is provided with initial velocity or not. In conclusion, the wheel spider can go down the slope over a certain pitch without providing initial velocity.

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2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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