飞行和吸附两栖机器人机理问题研究

项目名称： 飞行和吸附两栖机器人机理问题研究

项目编号： No.61473155

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化学科

项目作者： 刘永

作者单位： 南京理工大学

项目金额： 82万元

中文摘要： 三维空间信息侦查有重大需求，世界发达国家投入了大量经费研究地面移动机器人以及空中飞行机器人，这些机器人各有优势，但都有其局限性，因此开展具有飞行和吸附两栖能力的机器人研究具有重大的科学意义和理论价值。受蝙蝠类动物的启发，本项目创新性提出飞行和吸附两栖机器人，深入研究围绕该两栖机器人的基础科学问题，主要包括两栖机器人复杂表面主动稳定吸附问题，外界拘束环境下飞行吸附机器人的动力学数学模型及飞行、飞行和吸附间切换过程的协同控制方法，揭示飞行、吸附两种模态转换过程中由于壁面反作用力或者吸附力的约束导致正常飞行控制规律完全失效下的新的机理问题，研发该机器人系统平台并开展实验研究。本项目研究成果既为两栖机器人开辟新的方法和奠定理论基础，也有着重大应用价值和经济效益。

中文关键词： 智能机器人；飞行吸附机器人；仿生机器人；多栖机器人

英文摘要： There is a growing demand to gather three-dimensional spatial information. Currently, developed countries have invested a lot of research funding on ground mobile robots and aerial robots. All these robots have their own advantages and limitations. Therefore it has practical and theoretical value to perform research on the flying and adhesive robotics to satisfy the demand. Inspired by the bat-like animals, we propose an innovative flying and adhesive robot in this project. The fundamental scientific problems about the robot will be thoroughly studied that include: (a) how to control the robot to adhere to a complex surface steadily and robustly; (b) how to construct the dynamic model of this complex robotic systems; and (c) how to smoothly switch between flying and perching. Because the typical flight control algorithms completely fail to deal with the contact force with the external environment, we will investigate the new mechanism of the flying and adhesive robot and study new control methods to smoothly control the motion of the robot. The research results will open up new ways for flying and adhesive robotics and lay the theoretical foundation for motion control of this new type of robots. It will also generate significant practical values and economic benefits.

英文关键词： Intelligent Robot;Flying and Adhesive Robot;Biomimetic Robot;Dwelling Robot