机器人学基础Mobile Robots-Chap02.pdfVIP

CHAPTER 2 Locomotion 2.1 Introduction Most locomotion mechanisms are inspired by their biological counter parts. A wheel is a human invention, but not completely foreign to biological systems, bipedal walking system can be approximated by a rolling polygon. As the step size decreases the polygon approaches a circle or wheel. Efficiency On flat surfaces wheeled locomotion is more efficient than legged locomotion. Railway: friction is minimized on a hard and flat steel surface. As the surface becomes soft, wheeled locomotion accumulates inefficiencies due to rolling friction. 2.2 Legged Mobile Robots Advantages: • Adaptability and maneuverability in rough terrain; • Capable of crossing a hole or chasm; • The potential to manipulate objects in the environment with great skill, e.g., dung beetle. Disadvantages: • Power and mechanical complexity; • High maneuverability will only be achieved if the legs have a sufficient number of DOF to impart forces in different directions. •Legged robots are particularly suited for rough terrain, where they are able to traverse obstacles such as steps (a), gaps (b), or sandy patches (c) that are impossible for wheeled systems. •The high number DOF allows the robot to stand up when fallen (d) and keep its payload leveled (e). Because legged systems do not require a continuous path for support, they can rely on a few selected footholds, which also reduces the environmental impact (f). 2.2.1 Leg configurations and stability Leg configurations Stability Three legs can exhibit a static, stable pose provided the center of gravity is within the tripod of ground contact. In order to achieve static walking, a robot must have at least six legs. Insects, spiders: immediately able to walk when born. Mammals: able to stand easily. Human: cannot even stand with static stability, require months to stand and walk. Changeover walking Galloping Four legs