一种基于变权重的六足机器人共享遥操作控制

针对复杂地形环境下的六足机器人步行操作任务,提出一种兼顾机器人行走效率以及稳定裕度的协同调控策略。该策略以现有的速度-位姿协同遥操作构架为基础,融入了共享控制策略,改善系统的操作性和协调性。该方法通过引入优势因子作为主端操作者对机器人的速度层与位姿层操作子系统的控制权重,通过以稳定裕度为输入的模糊推理器求出优势因子,将优势因子引入主从端控制器,主端机器人通过产生触觉力引导操作者进行控制指令的迭代。通过Vortex半物理仿真平台和操作手柄搭建的实验平台对本方法进行验证,并与传统的协同操控方式对比。实验结果表明,通过本策略对六足机器人进行操作能够在保证稳定裕度的同时合理地对机器人速度与位姿进行调控。

Shared teleoperation control of hexapod robot based on variable weight

Aiming at the walking operation task of hexapod robot in complex terrain environment, a cooperative control strategy both considering the walking efficiency and stability margin of the robot is proposed. Based on the existing velocity posture cooperative teleoperation framework, the strategy incorporates the shared control strategy to improve the maneuverability and coordination ability of the control system. The method introduces dominance factor as the control weight, which makes the master operator have different control weights on the speed layer and posture layer operation subsystems of the robot. The dominance factor is obtained using the fuzzy reasoner that takes the stability margin as its input. The dominance factor is introduced into the master slave controllers, and the master robot guides the operator to iterate the control instructions through generating haptic force. The Vortex semi physical simulation platform and the experiment platform built with operating handles are used to verify the proposed method and the method is compared with traditional cooperative control mode. The experiment results show that operating the hexapod robot with the proposed strategy can reasonably control the speed and posture of the robot while ensuring the stability margin.