基于运动反力的匍匐机器人地形自适应控制策略

doi:10.3901/JME.2025.09.277

机械工程学报 ›› 2025, Vol. 61 ›› Issue (9): 277-291.doi: 10.3901/JME.2025.09.277

• 机器人及机构学 • 上一篇

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基于运动反力的匍匐机器人地形自适应控制策略

刘书豪^1,2, 裴香丽^1,2, 魏安民^1,2, 吴志伟^1,2, 戴振东^1,2

1. 南京航空航天大学机电学院南京 210016;
2. 南京航空航天大学仿生结构与材料防护研究所南京 210016

收稿日期:2024-05-23 修回日期:2024-08-19 发布日期:2025-06-12
通讯作者: 戴振东,男,1962年出生,博士,教授,博士研究生导师。主要研究方向为运动仿生学。E-mail:zddai@nuaa.edu.cn E-mail:zddai@nuaa.edu.cn
作者简介:刘书豪,男,2000年出生。主要研究方向为四足仿生机器人。E-mail:309770078@nuaa.edu.cn;裴香丽,女,1996年出生,博士研究生。主要研究方向为仿生爬壁机器人。
基金资助:
国家自然科学基金(62233008)和江苏省研究生科研与实践创新计划(KYCX24_0561)资助项目。

Adaptive Terrain Control Strategy of Creeping Robot Based on Reaction Force of Motion

LIU Shuhao^1,2, PEI Xiangli^1,2, WEI Anmin^1,2, WU Zhiwei^1,2, DAI Zhendong^1,2

1. School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016;
2. Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

Received:2024-05-23 Revised:2024-08-19 Published:2025-06-12

摘要/Abstract

摘要： 现代装备日益庞杂、精密，装备内各类复杂系统和模块间形成大量非结构化狭小空间，检测此类空间内设备的安全状态对整个系统的可靠运行意义重大，随着机器人技术的快速发展，爬行机器人由于其重心低、稳定性高等优势成为解决该类问题的有效途径。针对爬行机器人面对非结构化未知地形时腿足与地面接触过程中难以同时确保可靠接触并保持姿态稳定的问题，搭建了一套匍匐式机器人的运动控制框架，完成了机器人面向复杂障碍地形的运动规划，结合规划结果设计基于状态机的运动控制器，并建立机器人运动反力与足端接触状态的映射关系，研究其主动触地及自主状态切换的地形自适应控制策略，通过开展平面、斜面、弧面及非结构化障碍表面的运动实验，验证了所设计的控制策略可在复杂未知地形下保证机器人质心及姿态的稳定性。

关键词: 匍匐机器人, 运动反力, 自适应控制, 状态机, 零力矩点

Abstract: Modern equipment is increasingly complex and sophisticated, and a large number of unstructured narrow spaces are formed between various complex systems and modules in the equipment. The detection of the safety status of the equipment in such a space is of great significance to the reliable operation of the entire system. With the rapid development of robotics, crawling robots become an effective way to solve such problems due to their low center of gravity and high stability. Aiming at the problem that it is difficult for a crawling robot to ensure reliable contact and maintain a stable attitude when its legs and feet contact with the ground in the face of unstructured and unknown terrain, built a motion control framework for a crawling robot, completed the robot's motion planning for complex obstacle terrain, and designed a motion controller based on state machine combined with the planning results. The mapping relationship between the reaction force of motion and the contact state of the foot is established, and the terrain adaptive control strategy of the robot's active touch and autonomous state switch is studied. The motion experiments of plane, slope, cambered and unstructured obstacle surface are carried out, and the designed control strategy is verified to ensure the stability of the robot's center of mass and attitude under complex and unknown terrain.

Key words: creeping robot, motion reaction, self-adaptation control, state machine, zero moment point

中图分类号:

TP242

刘书豪, 裴香丽, 魏安民, 吴志伟, 戴振东. 基于运动反力的匍匐机器人地形自适应控制策略[J]. 机械工程学报, 2025, 61(9): 277-291.

LIU Shuhao, PEI Xiangli, WEI Anmin, WU Zhiwei, DAI Zhendong. Adaptive Terrain Control Strategy of Creeping Robot Based on Reaction Force of Motion[J]. Journal of Mechanical Engineering, 2025, 61(9): 277-291.

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基于运动反力的匍匐机器人地形自适应控制策略

Adaptive Terrain Control Strategy of Creeping Robot Based on Reaction Force of Motion

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