双手爪式仿生攀爬机器人的摇杆控制.PDF

34 3 ROBOT Vol.34, No.3 2012 5 May, 2012 DOI 10.3724/SP.J.1218.2012.00363 1 1 1 1 1 1 1 12 1. 510641 2. Department of Computing Science, University of Alberta, Edmonton, Canada 5 Climbot 3 TP24 A 1002-0446(2012)-03-0363-06 Joystick-based Control for a Biomimetic Biped Climbing Robot 1 1 1 1 1 CAI Chuanwu , GUAN Yisheng , ZHOU Xuefeng , JIANG Li , ZHU Haifei , 1 1 12 WU Wenqiang , ZHANG Xianmin , ZHANG Hong (1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China; 2. Department of Computing Science, University of Alberta, Edmonton, Canada) Abstract: A joystick-based control method is studied for Climbot, which is a novel 5-DoF (degree of freedom) biomimetic biped climbing robot. The kinematics and the available grasping area of the robot are analyzed firstly. And then, according to the characteristics of the robot biped climbing by switching its fixed-gripper, an intuitional joystick-based operating mode is proposed, in which different operating coordinates are defined for corresponding climbing gaits, and a matrix transform algorithm is presented to keep the robot coordinate system unchanging after switching its fixed-gripper. Finally, road-pole climbing experiments with three gaits (including inchworm-like, turning-around and turning-over gaits) and an application demonstration are carried out to verify the effectivene