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Rolling direction prediction of tensegrity robot on the slope based on FEM and GA

文献类型：期刊论文

作者Zhao, Kaikai1,2,3; Chang, Jian1,3; Li, Bin1,3; Du, Wenjuan4
刊名PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
出版日期2020-04-14
页码13
关键词Rolling direction predictions tensegrity robot finite element method optimization genetic algorithm
ISSN号0954-4062
DOI10.1177/0954406220916482
通讯作者Zhao, Kaikai(zhaokaikai@sia.cn) ; Chang, Jian(changjian@sia.cn)
英文摘要Six-strut tensegrity robot is a new mobile robot whose outer surface is an icosahedron containing 8 regular triangles and 12 isosceles triangles, and the robot performs rolling locomotion along the edges of the triangle. On the slope, it has lots of poses depending on the slope's angles and positions of robot, which is difficult to control the rolling directions in the real world. This paper proposed a new method based on finite element method and a genetic algorithm to predict the rolling directions of the robot. The balanced forces equations of robot nodes are established using finite element method, which is a constrained optimization problem. The equations are transformed into an unconstrained optimization problem by the thinking of sequential unconstrained minimization technique. Finally, the unconstrained optimization problem is calculated by genetic algorithm, and the relations between the actuators and the rolling directions are obtained through the dot product of gravitational torque and the edge vector of bottom triangle. This method is verified by simulation and experiment results.
WOS关键词LOCOMOTION ; BEHAVIOR
资助项目National Natural Science Foundation of China[61803365]
WOS研究方向Engineering
语种英语
WOS记录号WOS:000527779000001
出版者SAGE PUBLICATIONS LTD
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/39363]  
专题数字内容技术与服务研究中心_智能技术与系统工程
通讯作者Zhao, Kaikai; Chang, Jian
作者单位1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
2.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Peoples R China
3.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang, Peoples R China
4.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Zhao, Kaikai,Chang, Jian,Li, Bin,et al. Rolling direction prediction of tensegrity robot on the slope based on FEM and GA[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2020:13.
APA Zhao, Kaikai,Chang, Jian,Li, Bin,&Du, Wenjuan.(2020).Rolling direction prediction of tensegrity robot on the slope based on FEM and GA.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,13.
MLA Zhao, Kaikai,et al."Rolling direction prediction of tensegrity robot on the slope based on FEM and GA".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE (2020):13.

入库方式： OAI收割

来源：自动化研究所

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