| 引用本文: | 黄亮,管贵森,徐文福,梁国伟.面向数字舞台表演的海龟机器人系统研制[J].哈尔滨工业大学学报,2017,49(7):20.DOI:10.11918/j.issn.0367-6234.201603124 |
| HUANG Liang,GUAN Guisen,XU Wenfu,LIANG Guowei.Development of a turtle robot for performance at digital stage[J].Journal of Harbin Institute of Technology,2017,49(7):20.DOI:10.11918/j.issn.0367-6234.201603124 |
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| 面向数字舞台表演的海龟机器人系统研制 |
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黄亮1,2,管贵森1,2,徐文福1,2,梁国伟1,2
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(1.哈尔滨工业大学 深圳研究生院, 广东 深圳 518055;2.深圳数字舞台表演机器人技术工程实验室(哈尔滨工业大学 深圳研究生院), 广东 深圳 518055)
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| 摘要: |
| 针对所创作的机器人戏剧剧本，研制一套用于数字舞台表演的大型海龟机器人系统.该机器人由机械系统和控制系统组成，机械部分由4条3DOF模块化轻型腿、一套具有连续曲率的柔性脖子、龟壳开合装置和碳纤维框架组成，所有电机、电路板等机电部件安装于躯干中，通过同步带将电机的运动传递到外端，降低了悬臂部分的尺寸和质量，减轻了电机的负载.系统的控制部分由上位机及嵌入式控制器组成，分别提供顶层的人机交互和底层的关节实时控制功能.采用重心自调整的方法规划运动步态，确保多足运动的稳定性.经大量实验, 研制、开发了样机，完成了机器人戏剧的公演，所研制的机器人可以完美地演绎戏剧角色，外形美观，惹人喜爱，表演效果极佳.
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| 关键词: 机器人戏剧 表演机器人 仿生海龟机器人 步态规划 数字舞台 |
| DOI：10.11918/j.issn.0367-6234.201603124 |
| 分类号:TP24 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(61573116)；深圳市文化创意产业发展专项资金(深发改［2014］1507号)；深圳市基础研究计划(JCYJ20140417172417095,JCYJ 20150529141408781) |
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| Development of a turtle robot for performance at digital stage |
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HUANG Liang1,2,GUAN Guisen1,2,XU Wenfu1,2,LIANG Guowei1,2
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(1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, Guangdong, China; 2.Shenzhen Engineering Laboratory of Performance Robots at Digital Stage, Shenzhen 518055, Guangdong, China)
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| Abstract: |
| According to the created robot theatre script, a big turtle robotic system was developed for performance at digital stage. This robot includes mechanics system and control system, and the mechanics system is composed of four 3-DOF modularized light weight legs a flexible neck with continuous curvature, a shell opening and closing device and a carbon fiber torso frame. All the mechanotronics devices, including motors, circuit board et al, are installed in the main body. Through the synchronous belt, the motion of the motor is transferred to the outer end, largely reducing the size and weight of the cantilever, then reducing the load of the motor. The control system consists of a PC and an embedded controller, respectively provides the functions of human-computer interaction at high level and the realtime control of each joint at low level. According to the requirement of performance at the stage, a COG self-adjusting gait planning method was presented, assuring the stability during the movement of multiple legs. Finally, the robotic prototype was developed which had beautiful appearance. After the verification based on certain experiments, the robot was used to conduct a number of public performances. The results showed that the developed robot perfectly played the role of the drama performance and provoked audience to love it.
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| Key words: robot theater performing robot bionic turtle robot gait planning digital stage |
