可重构四足机器人的结构设计与协同导航算法
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TP242

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国家自然科学基金重点资助项目(51535008);天津市一流本科建设课程(2010009);天津大学本科生创新实践基地支持项目(TJU-201)


Structural Design and Cooperative Navigation Algorithm for Reconfigurable Quadruped Robot
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    摘要:

    可重构足式机器人作为移动机器人的一个重要分支,具有承载能力好、运动灵活、适应性强等特点。综合变胞Metamorphic理论和机器人驱动技术,设计一种自由切换形态的足式机器人,可广泛应用于校园、工厂等复杂场景的物流工作。提出不同形态间的切换方案,针对倾覆后的翻身动作提出对应的方案,可以适应复杂的任务。设计场景中包含动态行人的协同导航算法,采用时空-图注意力神经网络对机器人节点和行人节点进行建模,并从历史轨迹中提取出行人和机器人的潜在特征,进行实验验证算法的可行性,实验结果证明了该算法具有更好的预测行人未来轨迹的能力。

    Abstract:

    As an important branch of mobile robots, reconfigurable quadruped robot has the characteristics of good carrying capacity, flexible movement and strong adaptability. Combining metamorphic theory and robot driving technology, a quadruped robot with free switching forms was designed, which can be widely used in logistics work in complex environment such as campuses and factories. A switching scheme between different forms was proposed, and a new scheme was proposed for the turning over after overturning, which can adapt to complex tasks. A collaborative navigation algorithm including dynamic pedestrians was designed in the scene. The spatiotemporal-graph attention neural network was used to robot nodes and pedestrian nodes, and the potential features of robots and pedestrians were extracted from historical trajectories, and experiments were conducted to verify the feasibility of the algorithm. Experimental results show that the algorithm has better ability to predict the future trajectory of pedestrians.

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庄水管,翟远钊,庄哲明,等. 可重构四足机器人的结构设计与协同导航算法[J]. 科学技术与工程, 2023, 23(1): 256-262.
Zhuang Shuiguan, Zhai Yuanzhao, Zhuang Zheming, et al. Structural Design and Cooperative Navigation Algorithm for Reconfigurable Quadruped Robot[J]. Science Technology and Engineering,2023,23(1):256-262.

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历史
  • 收稿日期:2022-04-05
  • 最后修改日期:2022-10-25
  • 录用日期:2022-09-18
  • 在线发布日期: 2023-01-18
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