Qiu Xuejian, Yu Zhangguo, Meng Libo, Chen Xuechao, Zhao Lingxuan, Huang Gao, Meng Fei
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China.
Micromachines (Basel). 2022 Aug 4;13(8):1252. doi: 10.3390/mi13081252.
To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to different environments. The robot can perform efficient and stable upright balanced locomotion on flat roads and flexible crawling in low and narrow passages. For passing through low and narrow passages, we propose a crawling motion control strategy and methods for transitioning between locomotion modes of wheel-legged robots. In practical applications, the smooth transition between the two motion modes is challenging. By optimizing the gravity work of the body, the optimal trajectory of the center of mass (CoM) for the transition from standing to crawling is obtained. By constructing and solving an optimization problem regarding the posture and motion trajectories of the underactuated model, the robot achieves a smooth transition from crawling to standing. In experiments, the wheel-legged robot successfully transitioned between the crawling mode and the upright balanced moving mode and flexibly passed a low and narrow passage. Consequently, the effectiveness of the control strategies and algorithms proposed in this paper are verified by experiments.
为了应对适应复杂地形和环境的挑战，我们开发了一种新型轮腿机器人，它可以切换运动模式以适应不同环境。该机器人能够在平坦道路上高效稳定地进行直立平衡运动，并在低矮狭窄通道中灵活爬行。针对通过低矮狭窄通道，我们提出了一种轮腿机器人运动模式转换的爬行运动控制策略及方法。在实际应用中，两种运动模式之间的平稳过渡具有挑战性。通过优化身体的重力做功，获得了从站立到爬行过渡时质心（CoM）的最优轨迹。通过构建并求解关于欠驱动模型姿态和运动轨迹的优化问题，机器人实现了从爬行到站立的平稳过渡。在实验中，轮腿机器人成功地在爬行模式和直立平衡移动模式之间进行了转换，并灵活通过了低矮狭窄通道。因此，本文所提出的控制策略和算法的有效性通过实验得到了验证。
