基于自由步态的六足机器人崎岖路面行走控制方法研究

发布时间：2018-03-11 02:10

本文选题：六足机器人　切入点：自由步态　出处：《哈尔滨工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：由于大型六足机器人具有大承载、高稳定性等优点,使得其可用于复杂山地环境下货物运输,因而,大型六足机器人逐渐成为国内外的研究热点。大型六足机器人在崎岖路面行走时,步态需要在具备环境适应性的同时考虑稳定性能,因为一旦大型机器人失稳,将会产生不可估量的后果。如何在满足连续运动的前提下,保证机器人的步态稳定性,已经成为六足机器人崎岖坡面行走控制的重要研究方向。为了实现六足机器人在崎岖地形上的稳定行走,本文利用图表搜索的方法规划了高度适应地形变化的迈腿序列,结合足力传感器的反馈信息,借鉴昆虫的步态调整方法对机器人各足的状态进行反馈控制,使机器人生成顺应地形的自由步态,实现了机器人在崎岖坡面上稳定行走的功能。首先,为了顺应不同坡度的地形,规划适应地形坡度变化的步态转换过程,使机器人生成自由步态迈腿序列。通过引入图表搜索的方法,构建了评价函数,选取运动状况良好的状态作为机器人下一步运动状态,并对下一步运动状态的稳定性进行分析,调节机器人的横向位置使机器人满足稳定裕度要求;进而进行仿真实验,实验结果表明了自由步态迈腿序列具备地形适应性强、稳定性高的优点。其次,在自由步态迈腿序列的基础上,研究步态反馈控制方法,对自由步态迈腿序列进行局部调整,使机器人生成顺应地形的自由步态。考虑六足机器人在不平路面、凸包路面、沟壑路面的行走情况,分别针对性的研究了可将迈腿顺序和摆动轨迹同时进行反馈控制的步态反馈控制方法;将贝塞尔曲线、超越方程曲线与阻抗控制方法相结合,规划了柔顺平滑、缓和力冲击的触障、探沟运动轨迹;并通过仿真实验初步验证了自由步态控制方法在对应地形的有效性;在此基础上,参照实际自然环境中的崎岖地形,进一步深入建立了包括凸包、凹沟、斜坡的综合地形仿真环境,验证了自由步态控制方法在复杂环境中的有效性。最后,为了综合验证六足机器人崎岖路面自由步态控制方法的有效性及实用性,进行了实物样机上的验证实验。首先将自由步态控制方法编写成C++程序,然后搭建包含凸包、斜坡的实验环境,开展了六足机器人在非平坦路面上的自由步态行走实验,实验结果验证了自由步态控制方法的有效性和实用性,为六足机器人在崎岖路面上的稳定行走控制提供了技术。
[Abstract]:Because the large hexapod robot has the advantages of large bearing capacity and high stability, it can be used to transport goods in complex mountainous environment. Large hexapod robot has gradually become a research hotspot at home and abroad. When a large hexapod robot walks on a rough road, the gait needs to take into account the stability of the robot when it has environmental adaptability, because once the large robot loses its stability, There will be incalculable consequences. How to ensure the gait stability of the robot on the premise of continuous motion, In order to realize the stable walking of hexapod robot on rugged terrain, this paper uses the method of chart search to plan the leg sequence which is highly adapted to the change of terrain, in order to realize the stable walking of hexapod robot on rugged terrain, which has become an important research direction of hexapod robot walking control on rough slope. Based on the feedback information of the foot force sensor and the insect gait adjustment method, the robot's foot state is controlled by feedback, which makes the robot generate a free gait that conforms to the terrain. The robot can walk steadily on a rough slope. Firstly, in order to adapt to the terrain with different slopes, the gait conversion process adapted to the change of terrain slope is planned. By introducing the method of chart search, the evaluation function is constructed, and the state of good motion is selected as the next motion state of the robot, and the stability of the next motion state is analyzed. Adjusting the lateral position of the robot makes the robot meet the requirements of stability margin, and then carries out simulation experiments, the experimental results show that the free-gait walking sequence has the advantages of strong terrain adaptability and high stability. Secondly, On the basis of the free gait leg sequence, the gait feedback control method is studied, and the local adjustment of the free gait leg sequence is carried out to make the robot generate a free gait conforming to the terrain. The walking condition of the gutter pavement, respectively, has studied the gait feedback control method which can control the walking leg sequence and the swinging track simultaneously, combines the Bezier curve, the transcendental equation curve and the impedance control method. Planning smooth and smooth, gentle force impact contact barrier, trench track; and through simulation experiments to verify the effectiveness of the free gait control method in the corresponding terrain; on the basis of this, referring to the rugged terrain in the actual natural environment, Furthermore, a comprehensive terrain simulation environment including convex hull, concave groove and slope is established, which verifies the effectiveness of free gait control method in complex environment. In order to comprehensively verify the validity and practicability of the free gait control method of hexapod robot on rugged road surface, the verification experiment on the prototype is carried out. Firstly, the free gait control method is programmed into C program, and then the convex hull is built. In the experimental environment of slope, the experiment of free gait walking of hexapod robot on uneven pavement is carried out. The experimental results verify the validity and practicability of the free gait control method. It provides the technology for the stable walking control of hexapod robot on rough road.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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