仿生沙基机器人二维运动C形腿数学模型的建立及自适应控制的研究

项目名称： 仿生沙基机器人二维运动C形腿数学模型的建立及自适应控制的研究

项目编号： No.61463043

项目类型： 地区科学基金项目

立项/批准年度： 2015

项目学科： 自动化学科

项目作者： 胡钢墩

作者单位： 宁夏大学

项目金额： 47万元

中文摘要： 轻巧灵便的沙基机器人不但可以完成沙漠的探险，还可用于月球表面探测。鉴于目前沙基机器人在松软沙基行走时滑转率仍然过大的问题，本项目根据地面动力学理论和仿生学原理，结合离散元法，通过轮与沙作用的地面动力学试验，着重研究二维运动C形腿轮与沙作用的数学模型，揭示轮沙作用的机理，为优化设计二维运动C形腿提供理论依据。用基于支持向量机与模糊推理的智能信息融合方法，运用实验探索法，研究沙基在线辨识，探索二维运动C形腿仿生六足机器人最优控制策略，解决其自适应控制问题。创新点：①利用滑轨和反装曲柄连杆机构，在不增加驱动电机情况下，将原来只有一维运动的C形腿变为既有平动又有转动的二维运动C形腿，可克服C形腿在松软沙基中滑转率过大的缺点，提高机器人通过松软沙基的能力；②建立二维运动C形腿轮与沙作用的数学模型；③将沙基与机器人看成是一个系统，用实验数据训练支持向量机地面辨识模型集，建立基于支持向量机的地面辨识系。

中文关键词： 沙基机器人；地面动力学；离散元法；沙基辨识；自适应控制

英文摘要： The light and flexible sand Robert can not only complete the exploration of the desert, it can also be applied to explore the surface of the moon. Since the current slip rate of sand Robert is still too high when it walks on soft sand，this project focuses on the mathematical model of wheel-sand interaction of the two dimensional motion C shape leg according to the Terradynamics and the principle of bionics as well as the discrete element method, and the Terradynamics test achieved by interaction between wheel and sand, it revealed the mechanism of the wheel-sand interaction and provides the theory basis to optimize the two dimensional motion C shape leg. By using the intelligent information fusion method of Support Vector Machine（SVM）and the fuzzy reasoning, and the experiment exploration method, it studies the sand Robert online identification and explores the maximum control strategy of two dimensional motion C shape leg bionic six-legged robot, and solves the self-adaptation control. Its innovation point is as follows: ①Change the original one-dimensional C shape legs into translational and rotational two-dimensional motion C shape legs by using the slippery course and the crank connecting rod mechanism without any increase in drive motor cases, which can overcome the shortcomings of too high slip rate of the C shape legs on the soft sand, and improve the ability of the robot to get through the soft sand. ②Establish the mathematical model of two dimensional motion C shape legs wheel-sand interaction.③Regards the sand and the Robert as a whole system, and establish the ground system based on SVM according to the experimental data of training SVM ground identification model set.

英文关键词： sand Robert;Terradynamics;discrete element method;sand ground identification;self-adaptation control