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

doi:10.3901/JME.2025.09.277

Abstract

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

CLC Number:

TP242

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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