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Research progress of Shenyang Automation Institute's new detonation robot
[ Instrument Network Instrument R & D ] Recently, the Shenyang Institute of Automation, Chinese Academy of Sciences has developed a new wheel-leg-track composite detonation robot Scorpio (Scorpio), which effectively improves the efficiency and capability of the detonation robot.
Scorpio has two modes of crawler and self-balancing. It has the advantages of both environmental adaptability and flexibility. It can use crawlers to walk in complex environments, has the ability to climb obstacles, and can climb stairs. On flat urban roads, two Wheel self-balancing mode, fast speed, high flexibility, low energy consumption and long battery life.
In response to the high requirements imposed on the robot's control algorithm by the compound movement method, the researchers of the Explosive Robotics Research Group proposed an adaptive non-linear control algorithm (ANC). The algorithm first estimates the robot state based on the robot dynamics model and Kalman filter algorithm. Based on the nonlinear cascade controller, an adaptive adjustment algorithm and adaptive zero-angle identification algorithm are proposed. Dynamically adjust the parameters of the controller in real time to obtain better control results.
The research was supported by the National Key R & D Program. Related results were published in IEEE Access.