非连续约束下能量优化的机器人运动机构的仿生机理研究

项目名称： 非连续约束下能量优化的机器人运动机构的仿生机理研究

项目编号： No.51275360

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 何斌

作者单位： 同济大学

项目金额： 80万元

中文摘要： 自然界中动物多数具有高效率,低能耗的运动结构。这些动物具有非常高的运动速度与体长的比值以及非常低的能量消耗和运动距离的比值。相对于轮式运动及履带式运动与地面接触的方式,动物的杆式运动机构具有更强的地面适应能力。杆式运动机构与地面非连续接触,是非完整变结构约束机构且结构受力动态变化。课题运用力学测试与分析实验台，综合动物图像运动姿态和步态分析，开展以下研究：(1)非连续下生物姿态图像识别、关节力和地面接触力感知与变形计算；(2)非连续约束条件下动物与机器人多关节变结构运动学与动力学模型研究；(3)非连续约束条件下仿生机器人多种路面适应性机理及控制策略研究。课题通过综合生物学等多学科研究手段，开展国际合作，力图建立从神经运动控制到骨骼-肌腱-肌肉的生物肢体运动联系模型，力图解释或发现运动机构能耗，非连续约束下姿态稳定性的优化原理，为机器人机构以及其他工业机构等机构设计和控制提供一定的理论基础。

中文关键词： 非连续约束；机构仿生；能耗模型；中枢模式发生器；动态零力矩点

英文摘要： Most animals in nature have high efficiency and low energy consumption locomotive mechanisms. The ratio of speed to body length of these animals is very high, while the ratio of energy used for locomotion to distance is very low. Differing from wheeled locomotion which wheels continuously contract substrate, most animals select legged mechanism for locomotion, they are more adaptable to unstructured natural circumstance. The legged locomotion contract the substrate discontinuously, and the body during the process locomotion can be defined as discontinuous constraint metamorphic linkage mechanism. The project will use biomechamical test system,image recognition method and gaits analysis method to research discontinuous constraint mechanism for biomimetic robot design. First, we will analyse animal locomotion gaits through image recognition method, test joint force and calculate deformation. Second, kinematics and dynamics models of animal and robot will be built. Third, the adaptable mechanism for multi-terrain and control algorithm of robot will be researched. The project will build model through multidisciplinary research and international cooperation to show the relationship between neural control and animal locomotion, and find the optimization principle for stability control and energy consumption on the ba

英文关键词： Discontinous Constraint；Bionic Mechanism；Energy Consumption Modelling；Central Pattern Generator；Dynamic Zero Moment Point