Knowledge Resource Center for Ecological Environment in Arid Area
| 项目编号 | 61463043 |
| 仿生沙基机器人二维运动C形腿数学模型的建立及自适应控制的研究 | |
| 胡钢墩 | |
| 主持机构 | 宁夏大学 |
| 开始日期 | 2015 |
| 结束日期 | 2018 |
| 资助经费 | 470000(CNY) |
| 项目类别 | 地区科学基金项目 |
| 资助机构 | CN-NSFC（国家自然科学基金） |
| 语种 | 中文 |
| 国家 | 中国 |
| 英文简介 | The light and flexible sand Robert can not only complete the exploration of the desert, it can also be applied to explore the surface of the moon. Since the current slip rate of sand Robert is still too high when it walks on soft sand，this project focuses on the mathematical model of wheel-sand interaction of the two dimensional motion C shape leg according to the Terradynamics and the principle of bionics as well as the discrete element method, and the Terradynamics test achieved by interaction between wheel and sand, it revealed the mechanism of the wheel-sand interaction and provides the theory basis to optimize the two dimensional motion C shape leg. By using the intelligent information fusion method of Support Vector Machine（SVM）and the fuzzy reasoning, and the experiment exploration method, it studies the sand Robert online identification and explores the maximum control strategy of two dimensional motion C shape leg bionic six-legged robot, and solves the self-adaptation control. Its innovation point is as follows: ①Change the original one-dimensional C shape legs into translational and rotational two-dimensional motion C shape legs by using the slippery course and the crank connecting rod mechanism without any increase in drive motor cases, which can overcome the shortcomings of too high slip rate of the C shape legs on the soft sand, and improve the ability of the robot to get through the soft sand. ②Establish the mathematical model of two dimensional motion C shape legs wheel-sand interaction.③Regards the sand and the Robert as a whole system, and establish the ground system based on SVM according to the experimental data of training SVM ground identification model set. |
| 来源机构 | 宁夏大学 |
| 资源类型 | 项目 |
| 条目标识符 | http://119.78.100.177/qdio/handle/2XILL650/344378 |
| 推荐引用方式 GB/T 7714 | 胡钢墩.仿生沙基机器人二维运动C形腿数学模型的建立及自适应控制的研究.2015. |
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