| 基于有限状态机理论的多节机器人运动步态分析 |
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| 引用本文： | 宋一然.基于有限状态机理论的多节机器人运动步态分析[J].厦门大学学报(自然科学版),2006,45(1):47-50. |
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| 作者姓名： | 宋一然 |
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| 作者单位： | 莆田学院电子信息工程系,福建,莆田,351100 |
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| 摘 要： | 基于蚯蚓生物体运动原理研制了一种新型多节蠕动微小型机器人．机器人由5节铰链式结构组成，其外形直径约6．8mm，长度约110mm．介绍了该类机器人的机体构造和运动原理．在详细阐述有限状态机理论方法的基础上．建立了机器人的运动步态分析数学模型．并进行了单个行进波模式和任意行进波模式下改变机器人运动方向的机器人运动步态仿真分析．结果表明，该方法可用于分析该类机器人运动步态的可行性和所建立模型的正确性．从而为研究该类多节机器人系统的运动步态问题提供了理论依据．
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| 关 键 词： | 多节机器人 运动步态 有限状态机 |
| 文章编号： | 0438-0479(2006)01-0047-04 |
| 收稿时间： | 06 23 2005 12:00AM |
| 修稿时间： | 2005年6月23日 |
Study on the Locomotive Gait of the Multi-units Robot Based on Finite State Machine Method |
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| SONG Yi-ran.Study on the Locomotive Gait of the Multi-units Robot Based on Finite State Machine Method[J].Journal of Xiamen University(Natural Science),2006,45(1):47-50. |
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| Authors: | SONG Yi-ran |
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| Institution: | Department of Electronic and Information Engineering, Putian University, Putian 351100, China |
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| Abstract: | A novel miniature robot based on earthworm is designed in this paper. The robot is composed of 5 universal-joint units, and its diameter and length are about 6.8 mm and 110 mm respectively. The structure and locomotion mechanism of this kind of robot are introduced. The method of finite state machine is also explained. Based on this conception, the model of robot locomotive gait is built, and the results of simulation proved that this method is feasible and reasonable. The research has laid foundation for the study on the locomotive gait of the multi-units robot. |
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| Keywords: | multi-units robot locomotion state finite state machine |
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