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壁虎在竖直面内不同方向运动时运动行为的观察和运动作用力的测定不仅能揭示出壁虎运动的力学规律,也可以进一步获得仿生机器人控制设计的灵感.用三维力传感器阵列测定大壁虎在竖直面内运动的三维作用力,并结合高速摄像讨论在自下向上,自上向下和自右向左3个不同方向运动时大壁虎的运动行为及其脚掌的功能.结果表明大壁虎的运动速度随步频的提高而增加,但与脚掌的黏附时间与脱附时间无明显相关性.大壁虎各脚掌产生相应的作用力以平衡重力和翻转矩,并为运动提供必要的推力;位于身体质心上方的脚掌在支撑身体、运动驱动、运动平稳等方面都起到关键作用;竖直面内大壁虎在不同方向运动时运动行为和脚掌功能所发生的相应改变,使得大壁虎能够在竖直面上安全高效的自由运动.这一研究对仿壁虎机器人的结构设计、步态规划和控制的选择有所启发和帮助.
Gecko in different directions of the vertical motion of the movement of the observation and determination of the movement of force not only reveals the gecko’s laws of motion can also be further inspired by the design of bionic robot control.Using three-dimensional force sensor array to determine the gecko Vertical motion in the vertical plane, combined with high-speed camera to discuss in the bottom-up, top-down and right-to-left movement in three different directions Gekko gecko and its feet function.The results show that the Gecko Of the movement speed increases with the increase of pitch frequency, but there is no significant correlation between the adhesion time and the desorption time of the soles of the gecko.And the corresponding actions of the gecko on the soles of the feet produce a corresponding force to balance the gravity and the overturning moment, and provide the necessary thrust for the movement . The soles of the feet above the body center of mass play a key role in supporting the body, driving the motor, and moving steadily. Corresponding changes in the movement behavior and the function of the soles of the gecko in different directions during the vertical plane enable the gecko Safe and efficient free-motion on the vertical plane.The study selected the structural design, gait planning and control of gecko-like robots Some inspiration and help.