基于足端位置的六足机器人漫游地形感知与表征

未知复杂地形的精准感知与量化表征长期制约着六足机器人运动性能与作业效能的本质提升.针对传统基于外部传感的地形感知与表征方法普遍存在的感知范围局限、感知精度不足、表征效果欠佳等突出问题,研究借鉴足式生物地形感知机理,充分利用足端与地形交替离散接触特性,创新提出基于足端位置的六足机器人漫游地形感知与表征方法.通过构建时变机...

Perception and Representation of Roaming Terrain for a Hexapod Robot Based on Foot Positions

The perception and representation of unknown complex terrains restrict the raise of motion property and operational efficiency of hexapod robots for a long time. Aiming at the significant issues of traditional terrain perception and representation methods based on external sensing, such as the limitation of perception range, insufficient perception accuracy and poor representation effect, the method of perception and representation of roaming terrain for hexapod robot based on foot positions is innovatively proposed by researching on the terrain perception mechanism of multi-legged creatures and making full use of the characteristic of alternative discrete contact between feet and terrains. A computing model is constructed to efficiently obtain the coordinates of disordered foot positions in the time-varying body coordinate system. Based on the periodic processing and vectorized description of foot sequences, a local terrain representation method based on foot positions is established and the mapping relationship between the time-varying body poses and local terrain is constructed. The coupling constraint and the transformation mechanism between body poses during adjacent periods is systematically analyzed and then the global terrain reconstruction method is established. The splicing of periodic local mapping terrain by setting continuous and accurate body poses as the reference is realized. The experiment shows that this method can represent different local terrains more accurately and reasonably without additional external sensors than traditional methods and accurately reconstruct the global topography of roaming terrain.