转动C形腿与沙土作用建模及力学参数辨识

doi:10.3901/JME.2023.06.214

机械工程学报 ›› 2023, Vol. 59 ›› Issue (6): 214-225.doi: 10.3901/JME.2023.06.214

扫码分享

转动C形腿与沙土作用建模及力学参数辨识

杨传潇¹, 胡雄¹, 孙士斌¹, 顾邦平¹, 丁亮², 唐德威², 高海波², 邓宗全²

1. 上海海事大学物流工程学院上海 201306;
2. 哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150001

收稿日期:2022-04-26 修回日期:2022-08-25 出版日期:2023-03-20 发布日期:2023-06-03
通讯作者: 丁亮(通信作者),男,1980年出生,博士,教授,博士研究生导师。主要研究方向为星球探测车、野外足式移动机器人、地面力学、智能控制。E-mail:liangding@hit.edu.cn
作者简介:杨传潇,男,1989年出生,博士,讲师。主要研究方向为足式移动机器人力学行为机理、机器人运动规划及仿真、地面力学参数辨识。E-mail:yangcx@shmtu.edu.cn;胡雄,男,1962年出生,博士,教授,博士研究生导师。主要研究方向为大型港口物流装备故障诊断及检测、机械动态性能数字化监测与评估、桥吊门机船舶安全控制与管理。E-mail:huxiong@shmtu.edu.cn;孙士斌,男,1982年出生,博士,副教授,硕士研究生导师。主要研究方向为港航物流装备微纳米功能传感器件、港机表面强化修复。E-mail:sunshibin@shmtu.edu.cn;顾邦平,男,1987年出生,博士,副教授,硕士研究生导师。主要研究方向为残余应力控制与消除技术、振动测试及有限元分析。E-mail:bpgu@shmtu.edu.cn;唐德威,男,1966年出生,博士,教授,博士研究生导师。主要研究方向为特种机器人研发、机械结构传动仿真及设计。E-mail:dwtang@hit.edu.cn;高海波,男,1970年出生,博士,教授,博士研究生导师。主要研究方向为重载移动装备、足式移动机器人研发、星球车移动机构及控制。E-mail:gaohaibo@hit.edu.cn;邓宗全,男,1956年出生,教授,博士研究生导师。主要研究方向为星球车移动系统、大型空间折展机构构型生成与模块组网、移动机器人平台系统。E-mail:dengzq@hit.edu.cn
基金资助:
国家重大研究计划资助项目(91948202)。

Modeling and Mechanical Parameters Identification of Interaction Mechanics between Rotary Robotic C Type Leg and Sandy Terrain

YANG Chuanxiao¹, HU Xiong¹, SUN Shibin¹, GU Bangping¹, DING Liang², TANG Dewei², GAO Haibo², DENG Zongquan²

1. School of Logistic Engineering, Shanghai Maritime University, Shanghai 201306;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2022-04-26 Revised:2022-08-25 Online:2023-03-20 Published:2023-06-03

摘要/Abstract

摘要： 机器人足端与沙土相互作用力学模型的建立和参数辨识，是沙土表面步行移动机器人多模态感知和决策的重要约束条件和物理信息。C形腿构型在沙土表面具有高通过性和适应性，基于地面动力学中的抵抗力学理论，充分考虑C形腿在摆动步态条件下位姿和速度矢量对足地相互作用动态力学的影响，进而建立C形腿与沙土的相互作用力学模型。然后，通过三组宽度条件的C形腿与沙土表面的转动接触力学试验，提取数据并分析水平和竖直接触力随姿态角度的变化规律。然后，通过积分模型的解析推导获得线性表达形式，基于递归最小二乘算法对未知参数矩阵进行逐项推导。最后，基于逐项迭代输入输出矩阵函数，获得参数在已有数据样本容量空间内的辨识结果。与试验结果相比，辨识后的预测竖直力和水平力误差分别为4.05%和4.22%，验证参数辨识的准确性和有效性。辨识的参数能够反映沙土地面的部分物理特征，基准值则反映腿部几何构型对力学模型的影响。

关键词: C形腿, 转动相互作用, 地面动力学, 递归最小二乘法, 参数辨识

Abstract: The establishment of mechanical model and parameter identification of the interaction between robot foot and sand are important constraint conditions and physical information for multi-modal perception and decision-making for legged mobile robot on sandy terrain surface. Since high trafficability and adaptability on sandy terrain surface can be achieved for the C-shaped legged configuration, the influences of positional posture and speed vector to the dynamic foot-terrain interaction mechanics for C-shaped leg under the condition of swing gait based on resistance force theory in terradynamics are fully considered, then a contact mechanics model between the C-shaped foot and sandy soil is established. Through rotational contact mechanics experiments between C-shaped leg and sandy terrain surface under three width group conditions, the data are extracted and variation laws of contact forces in horizontal and vertical direction to different attitude angles are analyzed. Hence, the linear expression is obtained through analytical derivation of the integral model, these unknown parameter matrixes are deduced item by item based on the recursive least square algorithm. Finally, based on the item-by-item matrix function indicating iterative input-output relations, the parameters identification results depending on the existing data sample size space are obtained. Compared with the experimental results, the errors of predicted vertical force and horizontal force generated in identification are 4.05% and 4.22% respectively, which verifies the accuracy and effectiveness of parameter identification. Some physical properties of sandy terrain can be revealed through these identified parameters, and the influences of leg geometrical features on mechanical models can also be indicated by these reference values.

Key words: C type leg, rotary interaction, terradynamics, recursive least square method, parameters identification

中图分类号:

TG156

杨传潇, 胡雄, 孙士斌, 顾邦平, 丁亮, 唐德威, 高海波, 邓宗全. 转动C形腿与沙土作用建模及力学参数辨识[J]. 机械工程学报, 2023, 59(6): 214-225.

YANG Chuanxiao, HU Xiong, SUN Shibin, GU Bangping, DING Liang, TANG Dewei, GAO Haibo, DENG Zongquan. Modeling and Mechanical Parameters Identification of Interaction Mechanics between Rotary Robotic C Type Leg and Sandy Terrain[J]. Journal of Mechanical Engineering, 2023, 59(6): 214-225.

参考文献

[1] DING L,HUANG L,Li S,et al. Definition and application of variable resistance coefficient for wheeled mobile robots on deformable terrain[J]. IEEE Transactions on Robotics,2020,99:1-16.
[2] 王雁东,唐昭,戴建生. 连杆铰接轮腿式机器人的运动学与步态分析[J]. 机械工程学报,2018,54(7):11-19. WANG Yandong,TANG Zhao,DAI Jiansheng. Kinematics and gait analysis of a linkage-jointed wheel-legged robot[J]. Journal of Mechanical Engineering,2018,54(7):11-19.
[3] LI C,ZHANG T,GOLDMAN D I. A terradynamics of legged locomotion on granular media[J]. Science,2013,339(6126):1408-1412.
[4] 赖一楠,叶鑫,丁汉. 共融机器人重大研究计划研究进展[J]. 机械工程学报,2021,57(23):1-11,20. LAI Yinan,YE Xin,DING Han. Research progress of major research plan on tri-co robots[J]. Journal of Mechanical Engineering,2021,57(23):1-11,20.
[5] YANG C,DING L,TANG D,et al. Improved Terzaghi-theory-based interaction modeling of rotary robotic locomotors with granular substrates[J]. Mechanism and Machine Theory,2020,152:103901.
[6] VINA A,BARRIENTOS A. C-legged hexapod robot design guidelines based on energy analysis[J]. Applied Sciences,2021,11(6):2513.
[7] WANG G,RIAZ A,BALACHANDRAN B. Continuum modeling and simulation of robotic appendage interaction with granular material[J]. Journal of Applied Mechanics,2020,88(2):021013.
[8] KANG W,FENG Y,LIU C,et al. Archimedes' law explains penetration of solids into granular media[J]. Nature Communications,2018,9(1):1101.
[9] COMIN F J,SAAJ C M. Models for slip estimation and soft terrain characterization with multilegged wheel-legs[J]. IEEE Transactions on Robotics,2017,33(6):1438-1452.
[10] HUANG L,ZHU J D,YUAN Y F,et al. A dynamic resistive force model for designing mobile robot in granular media[J] IEEE Robotics and Automation Letters,2022,7(2):5357-5364.
[11] TREERS L K,CAO C,STUART H S. Granular resistive force theory implementation for three-dimensional trajectories[J]. IEEE Robotics and Automation Letters,2021,6(2):1887-1894.
[12] DALLAS J,COLE M P,JAYAKUMAR P,et al. Terrain adaptive trajectory planning and tracking on deformable terrains[J]. IEEE Transactions on Vehicular Technology. 2021,70(11):11255-11268.
[13] ZENG R Y,KANG Y T,YANG J,et al. An integrated terrain identification framework for mobile robots:system development,analysis,and verification[J]. IEEE-ASME Transactions on Mechatronics,2021,26(3):1581-1590.
[14] 薛龙,党兆龙,陈百超,等. 地面力学在火星壤力学参数估计研究中的进展与展望[J]. 宇航学报,2020,41(2):136-146. XUE Long,DANG Zhaolong,CHEN Baichao,et al. Advances and prospects of martian soil parameter identification based on terramechanics[J]. Journal of Astronautics,2020,41(2):136-146.
[15] ARREGUIN A L,MONTENEGRO S,DILGER E. Towards in-situ characterization of regolith strength by inverse terramechanics and machine learning:A survey and applications to planetary rovers[J]. Planetary and Space Science,2021,204:105271.
[16] HAN D L,ZHANG R,CAO Q Q,et al. Research in mechanical model of bionic foot intruding into sands with different physical characteristics[J]. Journal of Terramechanics,2021,98:25-33.
[17] IAGNEMMA K,KANG S,SHIBLY H,et al. Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers[J]. IEEE Transactions on Robotics,2004,20(5):921-927.
[18] 丁亮,高海波,邓宗全,等. 基于月球车轮地作用地面力学积分模型的月壤力学参数辨识方法[J]. 航空学报,2011,32(6):1112-1123. DING Liang,GAO Haibo,DENG Zongquan,et al. An approach of identifying mechanical parameters for lunar soil based on integrated wheel-soil interaction terramechanics model of rovers[J]. Acta Aeronautica et Astronautica Sinica,2011,32(6):1112-1123.
[19] WU X A,HUH T M,MUKHERJEE R,et al. Integrated ground reaction force sensing and terrain classification for small legged robots[J]. IEEE Robotics & Automation Letters,2016:1125-1132.
[20] ZHAO Y,GAO F,SUN Q,et al. Terrain classification and adaptive locomotion for a hexapod robot qingzhui[J]. Frontiers of Mechanical Engineering,2021,16(2):271-284.

转动C形腿与沙土作用建模及力学参数辨识

Modeling and Mechanical Parameters Identification of Interaction Mechanics between Rotary Robotic C Type Leg and Sandy Terrain

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	宗俊杰, 杨洋, 王朝董, 郑昱, 林闯, 杨斯钦, 广晨汉. 面向眼内手术的主操作器设计与零力控制方法研究[J]. 机械工程学报, 2024, 60(17): 63-71.
[2]	倪智宇, 李自森, 邬树楠, 吴晨晨. 基于姿态信号分布测量的空间太阳能电站惯性张量参数辨识[J]. 机械工程学报, 2024, 60(16): 209-221.
[3]	魏凌涛, 刘轶材, 王翔宇, 刘子俊, 李亮. 基于分层控制的线控制动系统压力控制策略[J]. 机械工程学报, 2024, 60(10): 487-496.
[4]	沈意平, 傅志强, 王送来, 李坚, 宾光富, 胡斌梁. 宏纤维复合材料作动器非对称迟滞建模与前馈线性化控制研究[J]. 机械工程学报, 2023, 59(15): 142-150.
[5]	丁孺琦, 王振, 程敏, 徐兵, 刘子辰. 基于模型控制的液压机械臂高精度轨迹跟踪[J]. 机械工程学报, 2023, 59(14): 298-309.
[6]	刘逸群, 陆培栋, 张志鹏, 王剑锋, 张京明, 丁亮, 高海波. 松软地质上机器人足-地动力学建模与试验[J]. 机械工程学报, 2022, 58(5): 8-17.
[7]	杨洛鸿, 刘侃, 胡伟, 周世超, 黄庆, 陈泳丹. 基于交轴磁链辨识的永磁同步电机位置传感器零位校正方法^*[J]. 电气工程学报, 2022, 17(4): 163-173.
[8]	鲁军, 刘金宝, 贾士杰, 李万义. MSMA传感器的建模及参数辨识研究^*[J]. 电气工程学报, 2022, 17(4): 211-217.
[9]	李洋, 朱立爽, 刘今越, 郭士杰. 基于动力学模型辨识的全臂柔顺控制[J]. 机械工程学报, 2022, 58(3): 45-54.
[10]	徐乐, 邓忠伟, 谢翌, 胡晓松. 锂离子电池高精度机理建模、参数辨识与寿命预测研究进展[J]. 机械工程学报, 2022, 58(22): 19-36.
[11]	徐乐, 邓忠伟, 谢翌, 胡晓松. 锂离子电池电化学-热耦合模型对比研究[J]. 机械工程学报, 2022, 58(22): 304-320.
[12]	何晋, 马睿飞, 蔡琦琳, 范学良, 赵威风, 邓业林. 基于递推最小二乘法的锂电池内短路全寿命周期辨识[J]. 机械工程学报, 2022, 58(17): 96-104.
[13]	杨扬, 李昌平, 丁华锋. 高压脉冲破岩放电回路建模及参数辨识[J]. 机械工程学报, 2022, 58(15): 243-251.
[14]	邬明宇, 李雪冰, 尹航, 吕靖成, 危银涛. 空气弹簧动刚度模型关键非线性参数辨识及动态特性研究[J]. 机械工程学报, 2022, 58(1): 88-96.
[15]	朱军, 曲玉博, 刘鹏辉, 郭向伟, 杜少通, 杨明. 基于时域的多新息随机梯度法VSG参数辨识^*[J]. 电气工程学报, 2022, 17(1): 78-85.