Gait Planning of Concave Transition for a Wall-climbing robot
文献类型：会议论文
| 作者 | Jiang Y(姜勇) ; Yue ZS(岳宗帅); Dong WG(董伟光); Wang HG(王洪光)
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| 出版日期 | 2014 |
| 会议名称 | 2014 IEEE International Conference on Information and Automation, ICIA 2014 |
| 会议日期 | July 28-30, 2014 |
| 会议地点 | Hailar, China |
| 关键词 | Wall-climbing robot Finite state machine Concave transition Gait planning |
| 页码 | 1284-1288 |
| 中文摘要 | For a gait planning problem of a wall-climbing robot, an on-line adaptive algorithm to perform concave transition is presented in this paper. The wall-climbing robot has a biped-wheel hybrid locomotion mechanism, which can make itself transit between two different wall surfaces. Firstly, the mechanical structure and the gait of the robot are analyzed respectively. Then, a finite state machine for gait modeling is established. On this basis, the gait planning method is proposed by using the interpolation scheme and the BP neural net. The simulations and the experiments show that for the wall-climbing robot prototype system, the on-line gait planning algorithm is feasible, and can improve the adaptive control ability effectively |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceeding of the IEEE International Conference on Information and Automation
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-4100-1 |
| WOS记录号 | WOS:000363815200231 |
| 源URL | [http://ir.sia.cn/handle/173321/15492]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Jiang Y,Yue ZS,Dong WG,et al. Gait Planning of Concave Transition for a Wall-climbing robot[C]. 见:2014 IEEE International Conference on Information and Automation, ICIA 2014. Hailar, China. July 28-30, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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