轮足式机器人越障临界载荷动态分配与关节柔顺性鲁棒控制方法研究

项目名称： 轮足式机器人越障临界载荷动态分配与关节柔顺性鲁棒控制方法研究

项目编号： No.51275470

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 艾青林

作者单位： 浙江工业大学

项目金额： 80万元

中文摘要： 针对复杂地形中行走机器人越障能力差、能耗大等特点，研究一种新型的轮足式机器人。基于欧式群几何积分方法建立轮足机器人动力学模型，构建面向临界稳定控制的空间无线传感网，预估各临界状态的系统质心位置，并给出相应的智能控制方法。基于旋量理论与凯恩动力学方程，建立机器人关节在极限跨越状态的瞬态力学模型，利用有限元仿真得到关节在高承载状态迁移过程中的动应力分布规律。采用鲁棒非线性方法设计冗余动力机构，实现轮足机器人在跨越障碍过程中的柔顺控制。建立加速度空间模型，利用势场引导进化算法对机器人路径进行优化。建立轮足机器人越障慎思行为模型，给出轮足行走互换策略，提出实时位姿控制方法。研制轮足式机器人实验样机模型，实验分析不同工况下机器人的动力学特性，验证动力学特性仿真模型与结果，优化机器人结构性能参数与运动参数。本课题研究成果为开发新型轮足式机器人，解决越障时临界失稳与关节失效等问题提供理论依据。

中文关键词： 轮足式机器人；SLAM；障碍物检测；步态策略；稳定性控制

英文摘要： For mobile robot walking in rough terrain with poor ability for climbing over the obstacle and large energy consumption, a new wheeled-legged robot will be researched. The robot dynamics will be established based on European groups of geometric integration method. The space wireless sensor network will be built to estimate the position of robot centroid in critical stability control and intelligent control method will be researched. Based on screw theory and Kane dynamic equation, transient mechanics model of robots joint will be built in state of climbing across the limit obstacle. The dynamic stress distribution will be simulated by finite element model of robot joints in high bearing condition. A redundancy driving device will be designed using a robust nonlinear method to accomplish the compliance control for robot climbing over obstacle. The acceleration space model will be established and the robot path will be optimized by using of potential field guiding evolution algorithm. The deliberating behavior model will be established and walking strategy of either using wheels or using legs will be researched. The real-time posture control method will be acquired. The prototype of wheeled-legged robot will be developed and the dynamics will be researched experimentally. The simulation results will be verified b

英文关键词： wheel-legged robot；SLAM；obstcle detection；gait strategy；stability control