One-leg motion control of gecko robot based on three-dimensional force feedback

被引：0
|
作者：
Yu, Zhiwei [1 ]
Gong, Jun [1 ,2 ]
Zhang, Hao [1 ]
Dai, Zhendong [1 ]
机构：
[1] Institute of Bio-Inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
[2] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
来源：
Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | 2011年 / 32卷 / 12期
关键词：
Adhesive materials - Gecko robots - Gecko-inspired robots - Hard-ware-in-the-loop - Kinematics modeling - Mechanical structures - Three dimensional force feedbacks - Three dimensional forces;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The mechanical structure of gecko inspired robot is analyzed; a one-leg kinematics model of the robot is built and the kinematic inverse solution is derived using algebraic method. The three-dimensional force sensor is statically calibrated, the decoupling matrix of the sensor is calculated and the force-signal amplification circuit is designed. A spring model of the adhesive material on the robot foot is built. Using incremental joint rotating method, a 3-D force feedback algorithm for the gecko robot is designed and is verified on Quanser hardware-in-the-loop (H.I.L.) system. Experimental study indicates that the gecko robot can control the force between its foot and wall stably, the 3-D force feedback algorithm is reasonable, which places an experimental groundwork for wall climbing movement of the gecko robot with force perception ability.
引用
收藏
页码：2674 / 2680
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