具有力感知功能的六足机器人及其崎岖地形步行控制研究
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摘要
随着人类探索自然界步伐的不断加速，各应用领域对具有复杂环境自主移动能力机器人的需求日趋广泛而深入。足式机器人具有比轮式机器人更加卓越的应对复杂地形的能力，因而被给予了巨大的关注。作为典型的多足步行机器人，六足机器人具有丰富的运动形式、冗余的肢体结构，具备良好的灵活度和稳定性，能够广泛的适应崎岖地形步行，特别适用于对自主性和可靠性要求比较高的任务。因此，对六足机器人相关技术的研究具有重要的理论价值和现实意义。目前，虽然已经存在众多不同用途的六足机器人，相关理论研究也取得较多成果，但由于其控制的复杂性、以及作业环境对其运动性能和智能性的高要求，相关研究还有待进一步深入。本文以实现六足机器人自主、稳定的崎岖地形步行为目标，研制了小型六足机器人，并且对全方位运动规划、腿部力控制、位姿控制进行了深入探讨，最后，通过实验对机器人HITCR的步行能力进行分析和评价。
为了能够步行于复杂地形，六足机器人的设计以仿生学的观点获取原型，并且通过结构参数的优化，获得了能够满足高稳定性和灵活性运动要求的结构。小型机器人具有体积小、重量轻的特点，以便其它大型移动设备携带、以及能够穿越更狭小环境，为了实现机器人的小型化，设计了高集成化的躯干系统、均一化的腿部系统以及模块化的关节系统。通过传感器系统的设计使机器人具备环境和自身状态的感知功能。作为典型的MIMO系统，六足机器人在控制方面具有天然的复杂性，为了提高系统的运行效率，设计了四级分布式的控制体系结构，同时为了使系统运行稳定、便于维护，设计了具有合理的参数及布局的供电系统和通信系统。
全方位运动规划是实现崎岖地形稳定步行的基础，其以运动学分析为手段、通过腿间协调规则的建立以及足端轨迹的规划，实现六足机器人直行和任意方向的转弯运动。首先，建立六足机器人的运动学模型，并分别对串联和并联结构进行正、逆运动学解算；其次，为了适应变化的地形，提出了足端轨迹自适应策略，采用对足端轨迹分层标识的方法，基于足端触碰及位置信息调用不同策略对预期轨迹进行修正，并且采用高次多项式描述轨迹模型，使足端轨迹满足腿部运动需要且具有良好的动态特性；再次，采用基于腿间局部规则的方法协调腿间的运动，从而生成根据地形自适应调整的自由步态。
六足机器人腿部力控制为腿部系统的独立行为，但对机器人整体的运动性能至关重要，它关乎腿部运动状态转换过程中步行的稳定性。首先，为了满足复杂环境足端力的测量需要，设计了基于应变感知原理的足端三维力传感器，该传感器具有能够集成于小型足式机器人胫节、维间非耦合、意外过载保护和一体化设计等特点。其次，通过对足端力传感器测量空间的变换，满足机器人任意姿态下不同工作空间的足端力测量需求。再次，为了提高腿部运动状态转换过程中步行的稳定性，提出了基于事件的腿部状态控制器。采用基于阻抗模型的足端柔顺力控制策略，来减小腿部状态过渡过程的碰撞冲击、以及提高足端力跟踪性能，并且采用自适应方法实现对地形刚度的估计，以及非线性增益补偿策略实现目标阻尼的自适应调节。
六足机器人为浮动基机构（FBM，Floating-based Mechanism），其位姿不仅由多条支撑腿的构型共同决定，也受到地形因素的影响。因此，位姿控制的目的是使机器人在复杂的崎岖地形步行过程中保持良好的稳定性和灵活性，并且能够适应更广泛的地形。首先，对六足机器人的初始位姿进行规划，规范了常规步行的基准位姿。其次，通过设计足端层位置辨识（LIT）方法，使机器人能够自主的区分轻度和重度崎岖地形。再次，为了实现轻度崎岖地形的位姿保持策略以及重度崎岖地形的位姿调整策略，从而提高机器人崎岖地形步行的适应性，设计基于VSDM模型的双环积分滑膜控制器来执行对位姿的控制，并且通过设计基于足力分配的重心位置调整方法来提高步行的稳定性。
通过四组典型实验，对本文方法和理论的有效性及机器人HITCR的功能性进行综合分析和验证。首先，通过不同步态和运动模式的比较，对基本运动的稳定性进行验证，并且对行程误差进行评价；其次，通过爬坡实验来验证机器人斜坡地形的步行能力，以及基于足端力的重心位置调整策略的有效性；再次，通过楼梯攀爬实验来验证机器人离散渐变地形的步行能力，以及重度崎岖地形位姿调整策略的有效性；最后，设计了复杂地形全方位运动实验，既对机器人的全方位运动能力进行验证，又分析了基于事件的腿部状态变换过程稳定控制策对运动平稳性的影响。
Mobile manipulator has both mobile and operational capacity, and has larger operating space and better operational flexibility. It is a research focus in the robot with the increasingly rapid step of human exploration of nature, the demand for robots with autonomous mobility under complex environment has been getting broader and deeper in more and more application areas. Legged robot offers more superior performance of dealing with complicated terrain conditions than that provided by wheeled robot and therefore has been given great concern. The hexapod robot which is typically multi-legged is characterized by its climbing capability and fault-tolerance for walking on unstructured terrain. It is particularly suitable for tasks in complex environment where high reliability is essential. Thus the development of a hexapod robot capable of walking on unstructured terrain is of practical importance. In this paper, a novel hexapod robot HITCR suitable for walking on unstructured terrain is proposed, and also some advanced control strategy will be integrated to improve the ability of the robot.
To improve the adaptation ability of hexapod robot, a thorough investigation of configuration design was made in terms of bionics. And structure parameters are optimized for improving dexterity of the robot; to equip the robot with perception of external environment and its internal states, the robot was characterized by high-integration and control with multi-sensors. As a typical MIMO system, a four-layer distributed hardware control system is developed. Also, the electrical system and the communication system were designed.
Omni-directional motion planning is the foundation of implement unstructured terrain stable walking. It achieved the Omni-directional walk through establishing coordinationrules between legs and planning foot-end trajectories of the robot. Firstly, the forward and inverse kinematic model of hexapod biomimetic robot was established on the basis of theories of serial and parallel mechanics. Secondly, the adaptive foot-end trajectories generating strategy is presented using high order polynomial, which is of importance to the needs of leg movement and good movement characteristics of the robot. Finally, the coordinationrules between legs are integrated to produce the free gaits.
Six-legged robot leg force control is an independent behavior, but the movement of the whole robot performance is critical, it is about leg movement in the process of state transition and foot end slip, accident cases on foot with the ground stability. Firstly, in order to meet the requirements of complex environment foot end force measurement, the three-dimensional force sensor is designed based on the principle of strain sensing, which has lots of advantages. Secondly, the foot end force measurement under different robot posture workspace is achieved through the space transformation of the foot end force sensor. Finally, the leg state controller based on events is developed, to improve the leg movement stability in the process of state transition of walking. The impact of in the of process leg state transition is effectively reduced, through integrating the foot end compliant force control strategy that bases on impedance model. Additionally, the adaptive adjustment of target damping is achieved through integrating independent adjustment of topography and stiffness and nonlinear gain compensation strategy.
The hexapod robot is floating-base mechanism, whose posture is dependent on the supporting legs as well as the terrain shapes. The posture adjustment is to improve the stability of hexapod walking on unstructured terrain. Firstly, the original position of six-legged robot was planning; the walking benchmark is normalized, based on the kinematics and dynamics. Secondly, the LIT strategy was developed, to enable the robot distinguishautonomouslybetween mild rugged terrain and severe rugged terrains. Finally, the VSDM model is established to implement the posture control based on double loop integral sliding mode controller.Posture keeping strategy is used in the mild rugged terrain, while posture adjustment strategy is used in thesevere rugged terrains. The adjustment method for the center of gravity position is developed to improve the stability of the robot while walking.
To test and verify the performance of the hexapod robot HITCR and the proposed control methods, four groups of experiments were carried out. Firstly, the stability of basic movement is tested through the comparison of different gait and movement patterns. Secondly, the walking ability on slope topographyand foot end force based center of gravity adjustment strategyare verified by the climbing experiment. In addition, the posture adjustment strategy under severe rugged terrains is also tested through stair climbing experiment.Finally,the omnidirectional motion experiment in complex terrain is designed to test the comprehensive motion ability of the robot and eventsbasedleg state controller. The adaptive stable locomotion ability of the robot under complex terrain conditions is exemplified by the comprehensive motionexperiment.
为了能够步行于复杂地形，六足机器人的设计以仿生学的观点获取原型，并且通过结构参数的优化，获得了能够满足高稳定性和灵活性运动要求的结构。小型机器人具有体积小、重量轻的特点，以便其它大型移动设备携带、以及能够穿越更狭小环境，为了实现机器人的小型化，设计了高集成化的躯干系统、均一化的腿部系统以及模块化的关节系统。通过传感器系统的设计使机器人具备环境和自身状态的感知功能。作为典型的MIMO系统，六足机器人在控制方面具有天然的复杂性，为了提高系统的运行效率，设计了四级分布式的控制体系结构，同时为了使系统运行稳定、便于维护，设计了具有合理的参数及布局的供电系统和通信系统。
全方位运动规划是实现崎岖地形稳定步行的基础，其以运动学分析为手段、通过腿间协调规则的建立以及足端轨迹的规划，实现六足机器人直行和任意方向的转弯运动。首先，建立六足机器人的运动学模型，并分别对串联和并联结构进行正、逆运动学解算；其次，为了适应变化的地形，提出了足端轨迹自适应策略，采用对足端轨迹分层标识的方法，基于足端触碰及位置信息调用不同策略对预期轨迹进行修正，并且采用高次多项式描述轨迹模型，使足端轨迹满足腿部运动需要且具有良好的动态特性；再次，采用基于腿间局部规则的方法协调腿间的运动，从而生成根据地形自适应调整的自由步态。
六足机器人腿部力控制为腿部系统的独立行为，但对机器人整体的运动性能至关重要，它关乎腿部运动状态转换过程中步行的稳定性。首先，为了满足复杂环境足端力的测量需要，设计了基于应变感知原理的足端三维力传感器，该传感器具有能够集成于小型足式机器人胫节、维间非耦合、意外过载保护和一体化设计等特点。其次，通过对足端力传感器测量空间的变换，满足机器人任意姿态下不同工作空间的足端力测量需求。再次，为了提高腿部运动状态转换过程中步行的稳定性，提出了基于事件的腿部状态控制器。采用基于阻抗模型的足端柔顺力控制策略，来减小腿部状态过渡过程的碰撞冲击、以及提高足端力跟踪性能，并且采用自适应方法实现对地形刚度的估计，以及非线性增益补偿策略实现目标阻尼的自适应调节。
六足机器人为浮动基机构（FBM，Floating-based Mechanism），其位姿不仅由多条支撑腿的构型共同决定，也受到地形因素的影响。因此，位姿控制的目的是使机器人在复杂的崎岖地形步行过程中保持良好的稳定性和灵活性，并且能够适应更广泛的地形。首先，对六足机器人的初始位姿进行规划，规范了常规步行的基准位姿。其次，通过设计足端层位置辨识（LIT）方法，使机器人能够自主的区分轻度和重度崎岖地形。再次，为了实现轻度崎岖地形的位姿保持策略以及重度崎岖地形的位姿调整策略，从而提高机器人崎岖地形步行的适应性，设计基于VSDM模型的双环积分滑膜控制器来执行对位姿的控制，并且通过设计基于足力分配的重心位置调整方法来提高步行的稳定性。
通过四组典型实验，对本文方法和理论的有效性及机器人HITCR的功能性进行综合分析和验证。首先，通过不同步态和运动模式的比较，对基本运动的稳定性进行验证，并且对行程误差进行评价；其次，通过爬坡实验来验证机器人斜坡地形的步行能力，以及基于足端力的重心位置调整策略的有效性；再次，通过楼梯攀爬实验来验证机器人离散渐变地形的步行能力，以及重度崎岖地形位姿调整策略的有效性；最后，设计了复杂地形全方位运动实验，既对机器人的全方位运动能力进行验证，又分析了基于事件的腿部状态变换过程稳定控制策对运动平稳性的影响。
Mobile manipulator has both mobile and operational capacity, and has larger operating space and better operational flexibility. It is a research focus in the robot with the increasingly rapid step of human exploration of nature, the demand for robots with autonomous mobility under complex environment has been getting broader and deeper in more and more application areas. Legged robot offers more superior performance of dealing with complicated terrain conditions than that provided by wheeled robot and therefore has been given great concern. The hexapod robot which is typically multi-legged is characterized by its climbing capability and fault-tolerance for walking on unstructured terrain. It is particularly suitable for tasks in complex environment where high reliability is essential. Thus the development of a hexapod robot capable of walking on unstructured terrain is of practical importance. In this paper, a novel hexapod robot HITCR suitable for walking on unstructured terrain is proposed, and also some advanced control strategy will be integrated to improve the ability of the robot.
To improve the adaptation ability of hexapod robot, a thorough investigation of configuration design was made in terms of bionics. And structure parameters are optimized for improving dexterity of the robot; to equip the robot with perception of external environment and its internal states, the robot was characterized by high-integration and control with multi-sensors. As a typical MIMO system, a four-layer distributed hardware control system is developed. Also, the electrical system and the communication system were designed.
Omni-directional motion planning is the foundation of implement unstructured terrain stable walking. It achieved the Omni-directional walk through establishing coordinationrules between legs and planning foot-end trajectories of the robot. Firstly, the forward and inverse kinematic model of hexapod biomimetic robot was established on the basis of theories of serial and parallel mechanics. Secondly, the adaptive foot-end trajectories generating strategy is presented using high order polynomial, which is of importance to the needs of leg movement and good movement characteristics of the robot. Finally, the coordinationrules between legs are integrated to produce the free gaits.
Six-legged robot leg force control is an independent behavior, but the movement of the whole robot performance is critical, it is about leg movement in the process of state transition and foot end slip, accident cases on foot with the ground stability. Firstly, in order to meet the requirements of complex environment foot end force measurement, the three-dimensional force sensor is designed based on the principle of strain sensing, which has lots of advantages. Secondly, the foot end force measurement under different robot posture workspace is achieved through the space transformation of the foot end force sensor. Finally, the leg state controller based on events is developed, to improve the leg movement stability in the process of state transition of walking. The impact of in the of process leg state transition is effectively reduced, through integrating the foot end compliant force control strategy that bases on impedance model. Additionally, the adaptive adjustment of target damping is achieved through integrating independent adjustment of topography and stiffness and nonlinear gain compensation strategy.
The hexapod robot is floating-base mechanism, whose posture is dependent on the supporting legs as well as the terrain shapes. The posture adjustment is to improve the stability of hexapod walking on unstructured terrain. Firstly, the original position of six-legged robot was planning; the walking benchmark is normalized, based on the kinematics and dynamics. Secondly, the LIT strategy was developed, to enable the robot distinguishautonomouslybetween mild rugged terrain and severe rugged terrains. Finally, the VSDM model is established to implement the posture control based on double loop integral sliding mode controller.Posture keeping strategy is used in the mild rugged terrain, while posture adjustment strategy is used in thesevere rugged terrains. The adjustment method for the center of gravity position is developed to improve the stability of the robot while walking.
To test and verify the performance of the hexapod robot HITCR and the proposed control methods, four groups of experiments were carried out. Firstly, the stability of basic movement is tested through the comparison of different gait and movement patterns. Secondly, the walking ability on slope topographyand foot end force based center of gravity adjustment strategyare verified by the climbing experiment. In addition, the posture adjustment strategy under severe rugged terrains is also tested through stair climbing experiment.Finally,the omnidirectional motion experiment in complex terrain is designed to test the comprehensive motion ability of the robot and eventsbasedleg state controller. The adaptive stable locomotion ability of the robot under complex terrain conditions is exemplified by the comprehensive motionexperiment.
引文
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