单腿失效的六足机器人失稳调整与容错步态设计

doi:10.3901/JME.2021.01.100

机械工程学报 ›› 2021, Vol. 57 ›› Issue (1): 100-109.doi: 10.3901/JME.2021.01.100

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单腿失效的六足机器人失稳调整与容错步态设计

尤波¹, 李鲲鹏¹, 李佳钰¹, 刘大权²

1. 哈尔滨理工大学机电控制及自动化技术研究所哈尔滨 150080;
2. 哈尔滨理工大学切削加工及制造智能化技术教育部重点实验室哈尔滨 150080

收稿日期:2019-10-23 修回日期:2020-04-16 出版日期:2021-01-05 发布日期:2021-02-06
通讯作者: 尤波(通信作者),男,1962年出生,博士,教授。主要研究方向为智能机器人与机电控制。E-mail:youbo@hrbust.edu.cn
基金资助:
哈尔滨市应用技术研究与开发项目计划资助项目（优秀学科带头人A类，2015RAXXJ007）。

Instability Adjustment and Fault-tolerant Gait Design for Hexapod Robot Single Leg Failure

YOU Bo¹, LI Kunpeng¹, LI Jiayu¹, LIU Daquan²

1. Research Institute of Mechatronic Control and Automation Technology, Harbin University of Science and Technology, Harbin 150080;
2. School of Automation, Institute of Mechanical and Electrical Control and Automation Technology, Harbin University of Science and Technology, Harbin 150080

Received:2019-10-23 Revised:2020-04-16 Online:2021-01-05 Published:2021-02-06

摘要/Abstract

摘要： 对六足机器人在运动过程中，支撑腿发生单腿失效时的稳定性进行了分析，根据零力矩点法（ZMP）与力-角稳定锥法（FASM）结合的失稳判定流程给出一种基于实时运动平面解析求解方法的失稳倾翻调整策略；在CPG控制器分层建模的基础上设计一种自适应容错步态生成器，根据腿部负载的变化延长或缩短支撑相并且能够产生多种步态。采用ADAMS-Matlab联合仿真系统对六足机器人单腿失效倾翻调整策略和容错步态进行仿真，仿真结果表明：机器人发生失稳倾翻时能够在1 s内完成调整；自适应容错步态下的稳定裕度在0.6～1.6 m范围内且翻滚角及俯仰角的波动范围均在–1°～1°之间。验证了失稳倾翻调整策略和自适应容错步态应用在单腿失效六足机器人上的可行性和有效性。

关键词: 六足机器人, 单腿失效, 失稳倾翻调整, 自适应容错步态

Abstract: The stability of the hexapod robot when the single leg failure occurs in the supporting leg during the movement process is analyzed. According to the instability determination method of ZMP and FASM, an instability tilting adjustment strategy based on real-time motion plane analytic solution method is presented. An adaptive fault-tolerant gait generator is designed based on the hierarchical modeling of CPG controller, which extends or shortens the support phase according to the change of leg load and can produce a variety of gait. The ADAMS-Matlab joint simulation system is used to simulate the one-leg failure tipping adjustment strategy and fault-tolerant gait of the hexapod robot. The experimental results show that the robot can complete the adjustment within one second when the robot fails to tip over. The stability margin in adaptive fault-tolerant gait is in the range of 0.6-1.6 m and the range of rollover and pitch angle is between –1°-1°. The feasibility and effectiveness of the instability rollover adjustment strategy and adaptive fault-tolerant gait application on the one-legged hexapod robot are verified.

Key words: hexapod robot, single leg failure, instability tilt adjustment, adaptive fault tolerant gait

中图分类号:

TP242

尤波, 李鲲鹏, 李佳钰, 刘大权. 单腿失效的六足机器人失稳调整与容错步态设计[J]. 机械工程学报, 2021, 57(1): 100-109.

YOU Bo, LI Kunpeng, LI Jiayu, LIU Daquan. Instability Adjustment and Fault-tolerant Gait Design for Hexapod Robot Single Leg Failure[J]. Journal of Mechanical Engineering, 2021, 57(1): 100-109.

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单腿失效的六足机器人失稳调整与容错步态设计

Instability Adjustment and Fault-tolerant Gait Design for Hexapod Robot Single Leg Failure

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