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基于速度规划的六足轮腿机器人的高效控制方法 TeCVP

TeCVP: A Time-Efficient Control Method for a Hexapod Wheel-Legged Robot Based on Velocity Planning.

机构信息

School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China.

Beijing Institute of Spacecraft System Engineering, Beijing 100094, China.

出版信息

Sensors (Basel). 2023 Apr 17;23(8):4051. doi: 10.3390/s23084051.

DOI:10.3390/s23084051
PMID:37112388
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10141102/
Abstract

Addressing the problem that control methods of wheel-legged robots for future Mars exploration missions are too complex, a time-efficient control method based on velocity planning for a hexapod wheel-legged robot is proposed in this paper, which is named time-efficient control based on velocity planning (TeCVP). When the foot end or wheel at knee comes into contact with the ground, the desired velocity of the foot end or knee is transformed according to the velocity transformation of the rigid body from the desired velocity of the torso which is obtained by the deviation of torso position and posture. Furthermore, the torques of joints can be obtained by impedance control. When suspended, the leg is regarded as a system consisting of a virtual spring and a virtual damper to realize control of legs in the swing phase. In addition, leg sequences of switching motion between wheeled configuration and legged configuration are planned. According to a complexity analysis, velocity planning control has lower time complexity and less times of multiplication and addition compared with virtual model control. In addition, simulations show that velocity planning control can realize stable periodic gait motion, wheel-leg switching motion and wheeled motion and the operation time of velocity planning control is about 33.89% less than that of virtual model control, which promises a great prospect for velocity planning control in future planetary exploration missions.

摘要

针对未来火星探测任务中轮腿机器人控制方法过于复杂的问题，本文提出了一种基于速度规划的六足轮腿机器人高效控制方法，命名为基于速度规划的高效控制（TeCVP）。当脚端或膝部的足端或车轮与地面接触时，根据从躯干期望位置和姿态偏差得到的躯干期望速度，将脚端或膝部的期望速度转换为刚体的速度变换。此外，通过阻抗控制可以获得关节的转矩。当悬停时，将腿视为由虚拟弹簧和虚拟阻尼器组成的系统，以实现摆动阶段的腿部控制。另外，还规划了在轮式配置和腿式配置之间切换运动的腿序列。根据复杂度分析，与虚拟模型控制相比，速度规划控制具有更低的时间复杂度和更少的乘法和加法次数。此外，仿真结果表明，速度规划控制可以实现稳定的周期性步态运动、轮腿切换运动和轮式运动，且速度规划控制的运行时间比虚拟模型控制少约 33.89%，这为未来行星探测任务中的速度规划控制提供了广阔的前景。

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本文引用的文献

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A month on Mars: what NASA's Perseverance rover has found so far.在火星的一个月：美国国家航空航天局的“毅力号”火星车目前的发现
Nature. 2021 Mar;591(7851):509-510. doi: 10.1038/d41586-021-00698-5.