基于视觉的闭链多足机器人自主运动控制方法

doi:10.3901/JME.2024.19.062

机械工程学报 ›› 2024, Vol. 60 ›› Issue (19): 62-70.doi: 10.3901/JME.2024.19.062

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基于视觉的闭链多足机器人自主运动控制方法

杜国锋¹, 赵萌², 武建昫², 张东¹

1. 北京化工大学信息科学与技术学院北京 100029;
2. 北京交通大学机械与电子控制工程学院北京 100044

收稿日期:2023-10-19 修回日期:2024-04-18 出版日期:2024-10-05 发布日期:2024-11-27
作者简介:杜国锋,男,1998年出生,博士研究生。主要研究方向为足式机器人视觉与运动控制。E-mail:2023400216@buct.edu.cn;张东(通信作者),男,1992年出生,博士,副教授,硕士研究生导师。主要研究方向为机器人机构设计与运动控制。E-mail:zhang_dong@buct.edu.cn
基金资助:
北京市自然科学基金小米联合基金(L223019)和北京市自然科学基金(3242011)资助项目。

Vision-based Autonomous Motion Control Method for Closed-chain Multi-legged Robot

DU Guofeng¹, ZHAO Meng², WU Jianxu², ZHANG Dong¹

1. College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029;
2. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044

Received:2023-10-19 Revised:2024-04-18 Online:2024-10-05 Published:2024-11-27

摘要/Abstract

摘要： 闭链多足机器人环境适应性强、稳定性高，具备复杂户外环境下运动的潜力，然而现有基于模型的控制方法难以主动获取地形信息，在复杂户外环境中自主行走难度大；基于视觉的方法能够主动获取环境信息，但难以根据地形自主切换步态。为此，提出了基于视觉的闭链多足机器人自主运动控制方法，建立了从视觉图像到步态的直接映射。主要内容包括：通过运动学分析和数据拟合建立运动学模型和越障策略；采用融合YOLACT++的地形可通行域划分算法，基于中点像素采样法在可通域内生成导航路径。为验证所提方法，搭建了多地形组合仿真场景和实际场景并进行实验，结果表明闭链多足机器人能够在陌生环境下自主行走，且能够根据地形切换步态。

关键词: 闭链多足机器人, 图像分割, 越障策略, 运动规划

Abstract: Closed-chain multi-legged robots have strong environmental adaptability and high stability.They have the potential to move in complex outdoor environments.However, existing model-based control methods are difficult to use in actively obtaining terrain information and to walk autonomously in complex outdoor scenarios.Vision-based methods are able to acquire environmental information actively, but the robot has difficult in switching gaits autonomously according to the terrain.With regards to this, a vision-based closed-chain autonomous motion control method for multi-legged robots is proposed, and a mapping from visual images to gaits is established.The kinematic model and obstacle-crossing strategy are established through kinematic analysis and data fitting.The terrain passable domain delineation algorithm incorporating YOLACT++ is used to generate navigation paths in the passable domain based on the midpoint pixel sampling method.In order to validate the proposed method, a multi-terrain simulation scene and a real scene are built and experimented, and the results show that the closed-chained multi-legged robot is able to walk autonomously in unfamiliar environments and switch its gaits according to the terrain.

Key words: closed-chain multi-legged robot, image segmentation, obstacle surmounting strategy, motion planning

中图分类号:

TP242

杜国锋, 赵萌, 武建昫, 张东. 基于视觉的闭链多足机器人自主运动控制方法[J]. 机械工程学报, 2024, 60(19): 62-70.

DU Guofeng, ZHAO Meng, WU Jianxu, ZHANG Dong. Vision-based Autonomous Motion Control Method for Closed-chain Multi-legged Robot[J]. Journal of Mechanical Engineering, 2024, 60(19): 62-70.

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基于视觉的闭链多足机器人自主运动控制方法

Vision-based Autonomous Motion Control Method for Closed-chain Multi-legged Robot

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