Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller
	Chen, Jian 1; Li, Guoyuan 1; Zhang, Jianwei 1; Yu, Junzhi 4
刊名	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2015-10-01
卷号	12 期号:4 页码:1492-1503
关键词	Bio-inspired locomotion caterpillar-like robot climbing robot
通讯作者	Chen, Jian
英文摘要	This paper presents a bio-inspired caterpillar-like climbing method. Natural caterpillars climb relatively slow, but their multisegmented body trunk strongly enhances climbing versatility and stability, which thus motivates us to design an imitative robot to study the caterpillar-like climbinglocomotion. Based on observations from natural caterpillars, we propose a three-stage climbing method to imitate the caterpillar-like straight line climbing on a planar wall. Due to the redundancy property of caterpillars' multisegmented body trunk, we formulate the caterpillar-like climbingproblem as an end-effector tracking problem using the redundant robotics terminology. A dual-mode optimal controller, which effectively resolves the end-effector tracking problem even when the robot configuration is ill-conditioned, is incorporated for realizing the caterpillar-like climbing locomotion. Both simulation and experiment results are presented to demonstrate the effectiveness of the proposed caterpillar-like climbing method.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems
研究领域[WOS]	Automation & Control Systems
关键词[WOS]	REDUNDANT MANIPULATORS ; ELASTOMER ADHESIVES ; GAIT GENERATION ; MANDUCA-SEXTA ; ROBOT ; LOCOMOTION ; KINEMATICS ; OPTIMIZATION ; INSPECTION ; MECHANISM
收录类别	SCI
语种	英语
WOS记录号	WOS:000362358500031
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/10039]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1. Institute of Technical Aspects of Multimodal System, Department of Computer Science, University of Hamburg, Hamburg, Germany 2. Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu, China 3. Faculty of Maritime Technology and Operations, Aalesund University College, Aaelsund, Norway 4. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
推荐引用方式 GB/T 7714	Chen, Jian ,Li, Guoyuan ,Zhang, Jianwei ,et al. Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2015,12(4):1492-1503.
APA	Chen, Jian ,Li, Guoyuan ,Zhang, Jianwei ,&Yu, Junzhi .(2015).Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,12(4),1492-1503.
MLA	Chen, Jian ,et al."Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 12.4(2015):1492-1503.