基于有限状态机理论的多节机器人运动步态分析

451厦门大学学报(自然科学版)Vol.45No.120061JournalofXiamenUniversity(NaturalScience)Jan.2006:2005-06-23:863(2001AA422210):(1959-),,..宋一然(,351100):.5,6.8mm,110mm,.,,.,,.:;;:TP242:A:0438-0479(2006)01-0047-0421,,/0(MinimalInvasiveSurgery,MIS),,,.,Ikuta1988.[1],Ikuta/MEDIWORM0,,(SMA),SMA.[2~4].[4],KrishnanSM.[5]..,,,,,.,,,,.1Fig.1Themicrorobotsystemandprototype15,14,1.6.8mm,110mm,4mm,10g;2;;,,,.2(a),2(b).(0);t1,CH1CH2CH3CH40,1,1(a)(b)2Fig.2Locomotionmechanismofthemicrorobot,234,1;t2,CH1CH2CH3CH40,1,2,2,34,2;t3,CH1CH40CH2CH3,1,2,3,3,3;t4,CH1CH20CH3CH4,12,3,4,4,4;t5,CH1CH2CH30,CH4,123,4,.5.15,,;CH1CH2CH3CH4,,,.22.1,.,,.(FiniteStateMa-chine,FSM),.M[81]:M=(Q,E,D,q0,F),:Q:PqIQ,qM(state).E:(inputalphabet),E.D:(transitionfunction),D:Q@EQ,P(q,a)IQ@E,D(q,a)=pMqa,p,,;q0:M(initialstate),q0IQ;F:M(finialstate),FAQ.PqIF,qM.,,.,:(1);(2);(3);(4);(5);(6).2.2,:1n,5,A=(Q,8,D,q0,F),Q;8;q0IQ;FAQ;DD:Q@8Q,D(q,a)aI8q.#48#()20063q0=(1,0,1)Fig.3Gaitstransferwhenq0=(1,0,1)andsingle-stridemodel2nq=(x1,x2,,,xn),n,xiI{0,1}.xi=0,;xi=1,.4Fig.4Gaitstransferwhenchangethemovingdirectionatanytime3,q001,qc0,qc0=(0,q0,1),D(0,1)(1,0).,q010,qc0=(1,q0,0),,D(1,0)(0,1).3,.q0=(1,0,1),,,,,qc0=(0,1,0,1,1),,3.3,5,54.5:(1)(1,0,1)(0,0,1)(0,1,0)(1,0,0)(1,0,1)(2)(1,0,1)(0,0,1)(0,1,0)(0,1,1)(1,0,1)(3)(1,0,1)(1,1,0)(0,1,0)(1,0,0)(1,0,1)(4)(1,0,1)(0,0,1)(0,1,0)(0,1,1)(1,0,1)(5)(1,0,1)(1,1,0)(1,1,1)(0,1,1)(1,0,1),n,,,,,.,,,.4:q0=(1,0,1),(1,1,1),.3,#49#1:(1,1,1,1,0),,,,(1,1,1)(1,1,0)(1,0,1)(0,1,1)(1,1,1).,,,,.4,.:(1),,.(2),.(3),,.(4),.:[1]IkutaK.Theapplicationofthemicro/miniaturemecha-tronicstomedicalrobotics[C]//ProceedingsoftheIEEEInternationalWorkshoponIntelligentRobot.Tokyo,Ja-pan,1988:9-14.[2]SlatkinAB,BurdickJ,GrundfestW.Thedevelopmentofaroboticendoscope[C]//ProceedingsoftheIEEE/RSJInternationalConferenceonIntelligentRobotsandSys-tems-HumanRobotInteractionandCooperativeRobots.Stanford,1995:162-171.[3]HUegHD,SlatkinAB,BurdickJW.Biomechanicalmod-elingofthesmallintestineasrequiredforthedesignandoperationofaroboticendoscope[C]//ProceedingsoftheIEEEInternationalConferenceonRobotics&Automa-tion.SanFrancisco,2000:1599-1606.[4]CarrozzaMC,LencioniL,MagnaniB,etal.Amicrorobotforcolonscopy[C]//ProceedingsoftheSeventhInterna-tionalSymposiumonMicroMachineandHumanSc-ience.Nagoya,Japan:IEEE,1996:223-228.[5]KrishnanSM,KumarS,YapCJ.Computer-assistedin-telligentendoscopy[C]//Proceedingsofthe13thInterna-tionalCongressandExhibitiononComputerAssistedRa-diologyandSurgery.Paris,France,1999:156-160.[6],,,.[J].,2000,10(5):60-62.[7],,.[J].,2000,34(11):1504-1508.StudyontheLocomotiveGaitoftheMult-iunitsRobotBasedonFiniteStateMachineMethodSONGY-iran(DepartmentofElectronicandInformationEngineering,PutianUniversity,Putian351100,China)Abstract:Anovelminiaturerobotbasedonearthwormisdesignedinthispaper.Therobotiscomposedof5universa-ljointunits,anditsdiameterandlengthareabout6.8mmand110mmrespectively.Thestructureandlocomotionmechanismofthiskindofrobotareintroduced.Themethodoffinitestatemachineisalsoexplained.Basedonthisconception,themodelofrobotlocomotivegaitisbuilt,andtheresultsofsimulationprovedthatthismethodisfeasibleandreasonable.Theresearchhaslaidfoundationforthestudyonthelocomotivegaitofthemult-iunitsrobot.Keywords:mult-iunitsrobot;locomotionstate;finitestatemachine#50#()2006