六足机器人腿部损伤的容错行走研究

设计了一款皮带传动的六足机器人,利用逆运动学对该腿部机构进行工作空间分析。因非结构化环境的环境信息不可知且较恶劣,使得六足机器人腿部损伤现象时常发生。为了提高腿部损伤六足机器人的容错行走能力,在无附加装置和系统的条件下,提出了一种新的控制策略。首先对机器人受损腿部情况进行分类,并基于受损后六足机器人的稳定裕度分析,通过利用机身姿态动态调节和利用部分腿的基节初始化转角调节提高其容错行走能力。分析腿部损伤六足机器人在一个运动周期内的足端位移、机身姿态等实验数据,从而验证了所提控制策略的有效性。

Study on Fault-tolerant Walking of Hexapod Robot With Leg Injury

A belt-driven, hexapod robot was designed. The working space of the leg mechanism was analyzed by inverse kinematics. Because the environmental information of an unstructured environment is unknown and rough, the leg injuries of the hexapod robot often occurs. Without additional equipment and system, a new control strategy was proposed to improve the fault-tolerant walking ability of a leg-injured hexapod robot. The conditions of a leg-injured hexapod robotare classified.Based on the stability margin analysis of the damaged hexapod robot, the fault-tolerant walking ability is improved by using the dynamic adjustment of the fuselage attitude and the initial corner adjustment of some legs without additional devices and systems. The experimental data of foot displacement and body posture of a leg-injured hexapod robot in a motion cycle are analyzed, which verify the effectiveness of the proposed control strategy.