面向数字舞台表演的海龟机器人系统研制

发布时间：2018-03-31 17:03

本文选题：机器人戏剧　切入点：表演机器人　出处：《哈尔滨工业大学学报》2017年07期

【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.
[Abstract]:A large turtle robot system for digital stage performance was developed for the robot drama script. The robot consists of a mechanical system and a control system. The mechanical part is composed of four 3DOF modular light legs. A set of flexible neck with continuous curvature, tortoise shell opening and closing device and carbon fiber frame, all electromechanical components such as motor, circuit board, etc. are installed in the trunk, and the motion of the motor is transferred to the outer end through synchronous belt. The size and quality of the cantilever part are reduced and the load of the motor is lightened. The control part of the system is composed of the upper computer and the embedded controller. It provides the man-machine interaction at the top level and the real-time control function of the joint at the bottom respectively. The self-adjusting method of gravity center is used to plan the motion gait to ensure the stability of the multi-legged motion. After a large number of experiments, a prototype is developed. The robot can perfectly deduce the role of drama, the appearance is beautiful, the performance effect is very good.
【作者单位】：哈尔滨工业大学深圳研究生院;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);
【基金】：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)
【分类号】：TP242

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