步态matlab代码-blind-walking-SLAM:来自上海交通大学的六足动物八爪鱼需要在没有相机系统的情况下行走。提出了基于编码器的

上传者: 38590790 | 上传时间: 2022-07-27 20:56:48 | 文件大小: 3.04MB | 文件类型: ZIP
步态matlab代码盲步SLAM算法 动机 从移动性的角度来看,步行机器人代表了一个非常好的解决方案,但需要能够处理地形不确定性的更优雅(且更复杂)的控制器。 因此,本论文是在法国南特中央理工学院,上海交通大学和意大利热那亚大学的监督下实现的,通过交互方案产生感知,从而为移动机器人的研究领域做出了贡献。旨在焊接在核压力容器上的平行六足机器人,平均最大步长为0.25 m,可在平坦的地形上行走,并将其功能进一步扩展为能够协商不平坦地形的第二种形式。 机器人没有附加任何视觉系统,必须同时从机器人关节(编码器)映射环境,以生成所谓的盲步行SLAM算法,因为同时会估计定位。 由于系统的组织结构良好,因此该方案可同时满足许多要求,并以其可预测性,适应性,模块化,参数化性质,收敛性证明,给定地形的静态稳定性最大化,快速计算预测方案和机器人任务而著称。遵守。 考虑了测试机器人上海交通大学的八达通,根据先前的研究阶段给出了机器人的几何和运动学模型,并推导了一般的机器人运动学模型。 这些模型被用作步态生成链的一部分,计算步态的几何量,可行性和边界检查。 摘要 从本文的移动机器人角度来看,步行机器人是一个很

文件下载

资源详情

[{"title":"( 62 个子文件 3.04MB ) 步态matlab代码-blind-walking-SLAM:来自上海交通大学的六足动物八爪鱼需要在没有相机系统的情况下行走。提出了基于编码器的","children":[{"title":"blind-walking-SLAM-master","children":[{"title":"polygeom","children":[{"title":"polygeom.m <span style='color:#111;'> 2.67KB </span>","children":null,"spread":false},{"title":"3x5_rectangle.jpg <span style='color:#111;'> 14.38KB </span>","children":null,"spread":false},{"title":"license.txt <span style='color:#111;'> 1.49KB </span>","children":null,"spread":false},{"title":"read_me.txt <span style='color:#111;'> 702B </span>","children":null,"spread":false},{"title":"polygeom.docx <span style='color:#111;'> 48.89KB </span>","children":null,"spread":false},{"title":"test_polygeom.m <span style='color:#111;'> 1.35KB </span>","children":null,"spread":false}],"spread":true},{"title":"7kinematicFeasibility","children":[{"title":"kinemBound.m <span style='color:#111;'> 6.40KB </span>","children":null,"spread":false},{"title":"feasibilityKinematic.m <span style='color:#111;'> 3.97KB </span>","children":null,"spread":false},{"title":"exampleKinematicFeasibility.m <span style='color:#111;'> 3.25KB </span>","children":null,"spread":false},{"title":"confirmKinemFeasibility.m <span style='color:#111;'> 1.35KB </span>","children":null,"spread":false}],"spread":true},{"title":"Online","children":[{"title":"TrajGen","children":[{"title":"circle.m <span style='color:#111;'> 448B </span>","children":null,"spread":false}],"spread":true}],"spread":true},{"title":"kinemPlan.png <span style='color:#111;'> 18.56KB </span>","children":null,"spread":false},{"title":"T1sideatt.png <span style='color:#111;'> 472.38KB </span>","children":null,"spread":false},{"title":"3polygonsOnPath","children":[{"title":"reorderPolygonSeries.m <span style='color:#111;'> 1.20KB </span>","children":null,"spread":false},{"title":"compT.m <span style='color:#111;'> 190B </span>","children":null,"spread":false},{"title":"tripodFillnew.m <span style='color:#111;'> 2.28KB </span>","children":null,"spread":false},{"title":"example_slice_tripodFill.m <span style='color:#111;'> 1.42KB </span>","children":null,"spread":false},{"title":"showPolygonSeries.m <span style='color:#111;'> 1.45KB </span>","children":null,"spread":false},{"title":"polygonSeriesOnPathnew.m <span style='color:#111;'> 5.16KB </span>","children":null,"spread":false}],"spread":true},{"title":"trajectorySliced.png <span style='color:#111;'> 12.86KB </span>","children":null,"spread":false},{"title":"T1KF1.png <span style='color:#111;'> 60.64KB </span>","children":null,"spread":false},{"title":"IKMrobot.m <span style='color:#111;'> 31B </span>","children":null,"spread":false},{"title":"trajectoryPolygons.png <span style='color:#111;'> 57.74KB </span>","children":null,"spread":false},{"title":"6gaitKinematicPlanning","children":[{"title":"genTraj.m <span style='color:#111;'> 4.54KB </span>","children":null,"spread":false},{"title":"confirmGeomFeasibility.m <span style='color:#111;'> 646B </span>","children":null,"spread":false},{"title":"exampleKinematicPlanning.m <span style='color:#111;'> 3.01KB </span>","children":null,"spread":false},{"title":"phasicKinematicPlanBreal.m <span style='color:#111;'> 6.42KB </span>","children":null,"spread":false},{"title":"phasicKinematicPlan0.m <span style='color:#111;'> 11.09KB </span>","children":null,"spread":false},{"title":"showKinemPlan.m <span style='color:#111;'> 3.14KB </span>","children":null,"spread":false}],"spread":true},{"title":"4gaitGeometricPlanning","children":[{"title":"simplifyGeomPlan.m <span style='color:#111;'> 939B </span>","children":null,"spread":false},{"title":"showPolygonIntersections.m <span style='color:#111;'> 186B </span>","children":null,"spread":false},{"title":"exampleGeometricPlanningGait.m <span style='color:#111;'> 1.60KB </span>","children":null,"spread":false},{"title":"tripodGeometric.m <span style='color:#111;'> 16.20KB </span>","children":null,"spread":false},{"title":"polygonSeries2plainPolygons.m <span style='color:#111;'> 921B </span>","children":null,"spread":false}],"spread":true},{"title":"1functPolygons","children":[{"title":"testpolygons2.m <span style='color:#111;'> 3.84KB </span>","children":null,"spread":false},{"title":"intersectPolygons.m <span style='color:#111;'> 5.50KB </span>","children":null,"spread":false},{"title":"lineEquation.m <span style='color:#111;'> 418B </span>","children":null,"spread":false},{"title":"areaPolygon2D.m <span style='color:#111;'> 664B </span>","children":null,"spread":false},{"title":"intersectLines.m <span style='color:#111;'> 926B </span>","children":null,"spread":false},{"title":"centroidPolygon2D.m <span style='color:#111;'> 729B </span>","children":null,"spread":false}],"spread":true},{"title":"5feasibilityGeomPlan","children":[{"title":"feasibilityGeometric.m <span style='color:#111;'> 3.12KB </span>","children":null,"spread":false},{"title":"exampleFeasibilityGeomPlan.m <span style='color:#111;'> 1.78KB </span>","children":null,"spread":false},{"title":"invT.m <span style='color:#111;'> 93B </span>","children":null,"spread":false},{"title":"compTBrpy_Breal.m <span style='color:#111;'> 293B </span>","children":null,"spread":false},{"title":"IGM.m <span style='color:#111;'> 7.95KB </span>","children":null,"spread":false},{"title":"compR.m <span style='color:#111;'> 312B </span>","children":null,"spread":false},{"title":"compT0_Brpy.m <span style='color:#111;'> 323B </span>","children":null,"spread":false}],"spread":false},{"title":"octopus.png <span style='color:#111;'> 2.29MB </span>","children":null,"spread":false},{"title":".gitignore <span style='color:#111;'> 12B </span>","children":null,"spread":false},{"title":"showBranchKinem.m <span style='color:#111;'> 3.93KB </span>","children":null,"spread":false},{"title":"IKMleg.m <span style='color:#111;'> 4.20KB </span>","children":null,"spread":false},{"title":"README.md <span style='color:#111;'> 4.50KB </span>","children":null,"spread":false},{"title":"8OLGaitplanningExample","children":[{"title":"createTrajectory.m <span style='color:#111;'> 1.70KB </span>","children":null,"spread":false},{"title":"zTrajectory.m <span style='color:#111;'> 317B </span>","children":null,"spread":false},{"title":"exampleGaitPlanning.m <span style='color:#111;'> 3.93KB </span>","children":null,"spread":false}],"spread":false},{"title":"trajectoryIntersections.png <span style='color:#111;'> 58.52KB </span>","children":null,"spread":false},{"title":"2sliceTrajectory","children":[{"title":"compAttitude.m <span style='color:#111;'> 219B </span>","children":null,"spread":false},{"title":"slicePath.m <span style='color:#111;'> 4.43KB </span>","children":null,"spread":false},{"title":"solvePoly.m <span style='color:#111;'> 1.75KB </span>","children":null,"spread":false},{"title":"vectarrow.m <span style='color:#111;'> 2.55KB </span>","children":null,"spread":false},{"title":"showSliced.m <span style='color:#111;'> 910B </span>","children":null,"spread":false},{"title":"example_sliced_path.m <span style='color:#111;'> 398B </span>","children":null,"spread":false}],"spread":false}],"spread":false}],"spread":true}]

评论信息

免责申明

【只为小站】的资源来自网友分享,仅供学习研究,请务必在下载后24小时内给予删除,不得用于其他任何用途,否则后果自负。基于互联网的特殊性,【只为小站】 无法对用户传输的作品、信息、内容的权属或合法性、合规性、真实性、科学性、完整权、有效性等进行实质审查;无论 【只为小站】 经营者是否已进行审查,用户均应自行承担因其传输的作品、信息、内容而可能或已经产生的侵权或权属纠纷等法律责任。
本站所有资源不代表本站的观点或立场,基于网友分享,根据中国法律《信息网络传播权保护条例》第二十二条之规定,若资源存在侵权或相关问题请联系本站客服人员,zhiweidada#qq.com,请把#换成@,本站将给予最大的支持与配合,做到及时反馈和处理。关于更多版权及免责申明参见 版权及免责申明