We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex *** aim was to improve...
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We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex *** aim was to improve the kinematic performance of spherical *** developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in *** robot was equipped with an Inertial Measurement Unit(IMU)that provided inclination and motion *** designed three types of walking gait for the robot,with different stabilities and ***,we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable *** the system function changed continuously as the robot moved underwater,we implemented an online motion recognition system with a forgettingfactorleastsquares *** proposed a generalized prediction control algorithm to achieve robust underwater motion *** ensure real-time performance and reduce power consumption,the robot motion control system was implemented on a Zynq-7000 System-on-Chip(SoC).Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments,which meets the requirements for applications in a range of terrains.
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