Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller
Chen, Jian 1; Li, Guoyuan 1; Zhang, Jianwei 1; Yu, Junzhi 4
2015-10-01
发表期刊IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
卷号12期号:4页码:1492-1503
文章类型Article
摘要This paper presents a bio-inspired caterpillar-like climbing method. Natural caterpillars climb relatively slow, but their multisegmented body trunk strongly enhances climbing versatility and stability, which thus motivates us to design an imitative robot to study the caterpillar-like climbinglocomotion. Based on observations from natural caterpillars, we propose a three-stage climbing method to imitate the caterpillar-like straight line climbing on a planar wall. Due to the redundancy property of caterpillars' multisegmented body trunk, we formulate the caterpillar-like climbingproblem as an end-effector tracking problem using the redundant robotics terminology. A dual-mode optimal controller, which effectively resolves the end-effector tracking problem even when the robot configuration is ill-conditioned, is incorporated for realizing the caterpillar-like climbing locomotion. Both simulation and experiment results are presented to demonstrate the effectiveness of the proposed caterpillar-like climbing method. 
关键词Bio-inspired Locomotion Caterpillar-like Robot Climbing Robot
WOS标题词Science & Technology ; Technology
DOI10.1109/TASE.2015.2453992
关键词[WOS]REDUNDANT MANIPULATORS ; ELASTOMER ADHESIVES ; GAIT GENERATION ; MANDUCA-SEXTA ; ROBOT ; LOCOMOTION ; KINEMATICS ; OPTIMIZATION ; INSPECTION ; MECHANISM
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems
WOS类目Automation & Control Systems
WOS记录号WOS:000362358500031
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/10039
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Chen, Jian
作者单位1. Institute of Technical Aspects of Multimodal System, Department of Computer Science, University of Hamburg, Hamburg, Germany
2. Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu, China
3. Faculty of Maritime Technology and Operations, Aalesund University College, Aaelsund, Norway
4. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
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Chen, Jian ,Li, Guoyuan ,Zhang, Jianwei ,et al. Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2015,12(4):1492-1503.
APA Chen, Jian ,Li, Guoyuan ,Zhang, Jianwei ,&Yu, Junzhi .(2015).Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,12(4),1492-1503.
MLA Chen, Jian ,et al."Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 12.4(2015):1492-1503.
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