轮腿式机器人的姿态耦合优化控制

轮腿式移动机器人在不平坦地形下运动时涉及三个相互关联的控制问题：稳定性控制、驱动牵引力控制和姿态控制。建立了适合于描述轮腿式机器人姿态的运动学模型，提出了轮腿运动模式下的稳定性函数和驱动牵引控制函数，为使机器人具有良好的地形适应能力、越障性能及运动稳定性，在综合分析机器人稳定性和驱动牵引特性的基础上，提出并构建了结合稳定性和驱动牵引性能的轮腿式机器人耦合优化控制准则，并实现了机器人姿态的优化控制，最后通过实验验证了该方法的可行性。

Posture Coupled Optimization Control of Wheel-legged Robot

When wheel-legged mobile robots moved in uneven terrains,three basic non-isolated control problems such as stability control,drive traction control,and posture control were produced.Herein kinematic model with wheel-legged mode  was   established  firstly, which was suitable to describe the robot posture. Then stability and traction functions were addressed.In order to have good adaptability, high maneuverability of  negotiation and high locomotion security,coupled optimization function was built and coupled optimization control  was realized based  on  the comprehensive analyses of the stability and traction characteristics,which could supply the coupled optimization criteria for stability and traction,and realize the posture optimization control of the robots. The effectiveness of  the method was confirmed by experiments.