基于主动试探的微小型爬壁机器人步态控制

针对欠平滑壁面上微小型爬壁机器人吸盘足吸附失败后的自主行为控制问题，根据机器人的结构设计及运动步态特点，提出基于主动试探的机器人吸盘足着地点自主选择步态控制方法。分析机器人的三种运动模式，以及直线运动和转向运动的基本步态。定义机器人的状态矢量，建立机器人吸盘足的有限状态机模型和状态转移图，并按“就近”原则设定状态转移函数的优先级。以上述研究为基础，提出在缺少壁面环境信息条件下的机器人步态控制主动试探方法。对步态控制方法进行仿真分析，并在实验室模拟环境和实际的飞机外表面环境进行试验验证，结果表明，所提出方法对于改善机器人的控制性能和提高机器人的自主能力是可行和有效的。

Gait Control of Micro Wall-climbing Robot Based on Initiative Exploration

To solve the problem of autonomous behavior control for a micro wall-climbing robot when its suction foot fails to generate enough vacuum pressure to hold itself on an unsmoothed surface, according to the structure design and the gaits of the robot, a gait control method to choose a location to put the suction foot down based on initiative exploration is proposed. Firstly, three motion modes of the micro wall-climbing robot are analyzed, as well as its basic gaits of the linear motion and the turning motion...