多足步行机器人力/位置/姿态协同规划及其混合控制研究

项目名称： 多足步行机器人力/位置/姿态协同规划及其混合控制研究

项目编号： No.51475177

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 李小清

作者单位： 华中科技大学

项目金额： 80万元

中文摘要： 多足步行机器人是具有多支链、时变拓扑运动机构的复杂机电系统，在不规则地形以及受外力冲击扰动下易失稳、打滑甚至跌倒。系统的运动平顺性和稳定性受主动控制关节的出力、机构变拓扑下的足端位置以及运动过程中的机身姿态等因素的综合影响，必须解决其在复杂环境下的力/位置/姿态协同规划与控制问题，关键是揭示时变拓扑运动结构柔顺变化规律，并提出基于力/位置/姿态混合控制的柔顺控制策略。本项目围绕这一科学问题，采用理论建模-仿真分析-实验验证相结合的方法开展研究，主要内容包括：多足步行机器人力/位置/姿态协同约束及数学描述、复杂环境下的系统空间运动/动力学建模、实时变拓扑柔顺步态生成与控制策略、力/位置/姿态混合控制仿真与实验验证等。力图揭示多足步行机器人系统变拓扑柔顺变化规律，建立力/位置/姿态混合动力学模型，提出复杂环境下的系统柔顺步态生成与控制方法，为多足步行机器人平稳、柔顺运动提供理论和技术基础。

中文关键词： 移动机器人；机器人运动学；动力学；运动控制；机器人机构

英文摘要： Multi-legged walking robot is a complex electromechanical system which has multi-branched chains and motion mechanism of time-varying topology. It prones to instability, slipping and even fall in irregular terrain and by external shocks.The factors of the torques of actively controlled joints, the foot end position of variable topology mechanism and the body attitude adjustment during exercise have combined effects on the motion compliance and stability of system. Therefore,the hybrid force/position/attitude control under tough environment becomes an urgent problem to be solved. The key scientific issue is to reveal the variation of compliance with variational topology and to propose compliance control strategies based on hybrid force/position/attitude control. Around this scientific issue,the project adopts combined method of theoretical modeling-simulation-experimental verification to do the research, and its main content includes: the collaboration constraints and mathematical description method of the force, position and attitude of the robot, kinematic and dynamic modeling in motion space in irregular terrain, the in time compliant gait generation and control methods of variational topology, force/position/posture hybrid control simulation and experimental verification, etc.The project attempts to reveal the basic variation of compliance with variational topology for multi-legged walking robot system, establishes the force/position/posture hybrid dynamical model, and proposes a compliant gait generation and control method for multi-legged walking robot system in irregular terrain, which provide theoretical and technical basis for stable and compliant motion of multi-legged walking robot.

英文关键词： Mobile Robot;Robot Kinematics;Dynamics;Motion Control;Robot Mechanisms