仿生机器人的研究状况及其未来发展

:1002-0446(2001)05-0476-05*(200030):,.,:.,.:;;:TP24:BBIOMIMETICROBOTRESEARCHANDITSPERSPECTIVECHIDong-xiangYANGuo-zheng(InstituteofPreciseEngineeringandIntelligentMicrosystem,ShanghaiJiaotongUniversity)Abstract:Withtheextensionofrobotresearchfromstructuredenvironmenttounstructuredenvironment,theeffectofbionicsoverithasbecomestronger.Twoaspectsareadvanced:researchesonlocomotionmechanismandonbehavior.Thecurrentdevelopmentoftheseresearchesarediscussedanditsperspectiveisforecasted.Keywords:biomimeticrobot,locomotionmechanism,behavior1(Introduction)2060,、[1].、、.,.,、、、、、..、,、.,,,,.,.,..2(Applicationofthebiologiclocomotionmechanismintheresearchofbiomimeticrobots)2.1.DominiekReynaerts[2],.95mm,15mm.,,(1)..23520019ROBOTVol.23,No.5====================================================================Sept.,2001*:2000-12-20±5º,.1Fig.1Bendingactuatorofamobilerobotprototypebasedoninch-wormFredDelcomyn[3]Periplanetaamericana.,,.,.58cm×14cm×23cm,,15cm;1217,,11kg,(2).:、、,1:1.1:1.5.,,.2Fig.2Biomimeticrobotphysicallymodeledaftertheamericancockroach2.2,.、、、、.,,.Triantafyllou[4].Ayres.,RaviVaidyanathan[5].(、),;.(neutrallybuoyant),.(3).,,,;,3mm、1.7mm.,.,.()2.2cm,()0.6cm/s,18º21º.,.3Fig.3Aviewoftherobotunderwater2.3,.,.、,,:1),(、、、、);774235:====================================================================2),、,、、(、、、);3)、(、).,,,,.,,,、.4、5MIT.Genghis1989,.[6].HannibalAttilaMITAILab1990.,、、、.,.,,.HannibalAttila19,608.4GenghisFig.4Genghis5Hannibal()Attila()Fig.5Hannibal(left)andattila(right)3(Applicationofthebiologicbehaviorsintheresearchofbiomimeticrobots),,、、.,..[7].SharpeWebb..,,,.SharpeWebb,.,,,.CoombsRoberts.,(6);,--,.CoombsRobertsbee-bot115º,.87420019====================================================================6Fig.6ArobotfindsthemidinebetweenobstaclesbybalancingtheopticflowonbothsidesDimitriosLambrinos[8].,.7LambrinosSahabot2.[9]().(8).,,,,.7Sahabot2Fig.7Sahabot2(left)anditspolarized-lightsensors8Fig.8Pheromonesensor,,.4(Conclusion),.:(1),,.(2),,.(3),.MITGenghis、HannibalAttilaNASA,1992.,.,.、,,,,、.974235:====================================================================(References)1..,19892DominiekReynaerts,JanPeirs,HendrikVanBrussel.Shapememorymicro-actuationforagastro-intestinalinterventionsystem.SensorsandActuators771999157-1663FredDelcomyn,MarkE.NelsonArchitecturesforabiomimetichexapodrobot.RoboticsandAutonomousSystems2000,30:5-154TriantafyllouMS,TriantafyllouGS.Anefficientswimmingmachine.ScientificAmerican,1995,272:64-705RaviVaidyanathan,HillelJChiel,RogerDQuinn.Ahydrostaticrobotformarineapplications.RoboticsandAutonomousSystems,2000,30:103-1136RodneyA.Brooks.Arobotthatwalks;emergentbehaviorsfromacarefullyevolvednetwork.MIT,AIMemo1091,Feb,19897MatthiasOFranz,HanspeterAMallot,Biomimeticrobotnavigation.RoboticsandAutonomousSystems,2000,30:133-1538DimitriosLambrinos,RalfMoller,ThomasLabhart,RolfPfeifer,RuigerWehner.Amobilerobotemployinginsectstrategiesfornavigation.RoboticsandAutonomousSystems,2000,30:39-649YoshihikoKuwana,SumitoNagasawa,IsaoShimoyama,RyoheiKanzaki.Synthesisofthepheromone-orientedbehaviourofsilkwormmothsbyamobilerobotwithmothantennaeaspheromonesensors,Biosensors&Bioelectronics,1999,14:195-202.:(1971-),,.:.(1961-),,,,,863.:,.(445),VC++.VC++MATLAB():mC,MATLABmexCexe,VC++:shellexec()winexec().5(Conclusion)(1)5,、、、、.(2)、E、PWMA/D、D/A,.(3)CMAC.(4),VC++MATLAB、.(References)1,,..,1998,20(3):232-2372TheIndRob.1994,21(1):4-83BadanoF,etal.Roboticassemblybyslightrandommovements[J].Robotica,1991,9(1):23-294,,...200010:115-1175,,..6,..,1998,19(6):615-6197,..,1994,(6):14-168,,..,2000,22(1):19-229,.、.,1998,19(1)10,.CMAC().,1999,28(3)11.VC++DLL.,2000,(1):62-65:(1940-),,,.:.(1970-),,.:.(1968-),,,.:.08420019====================================================================