Pei Xiangli, Liu Shuhao, Wei Anmin, Shi Ruizhuo, Dai Zhendong
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Institute of Bio-Inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Biomimetics (Basel). 2023 Sep 6;8(5):415. doi: 10.3390/biomimetics8050415.
This paper presents a study on bioinspired rigid-flexible coupling adaptive compliant motion control of a robot gecko with hybrid actuation for space stations. The biomimetic robot gecko is made of a rigid trunk, four motor-driven active legs with dual-degree-of-freedom shoulder joints, and four pneumatic flexible pleated active attachment-detachment feet. The adaptive impedance model consists of four input parameters: the inertia coefficient, stiffness coefficient, damping coefficient, and segmented expected plantar force. The robot gecko is equipped with four force sensors mounted on its four feet, from which the normal force of each foot can be sensed in real-time. Based on the sensor signal, the variable stiffness characteristics of the feet in different states are analyzed. Furthermore, an adaptive active compliance control strategy with whole-body rigidity-flexibility-force feedback coupling is proposed for the robot gecko. Four sets of experiments are presented, including open-loop motion control, static anti-interference experiment, segmented variable stiffness experiment, and adaptative compliant motion control, both in a microgravity environment. The experiment results indicated that the presented control strategy worked well and the robot gecko demonstrates the capability of stable attachment and compliant detachment, thereby normal impact and microgravity instability are avoided. It achieves position tracking and force tracking while exhibiting strong robustness for external disturbances.
本文介绍了一项关于具有混合驱动的空间站机器人壁虎的仿生刚柔耦合自适应柔顺运动控制的研究。仿生机器人壁虎由一个刚性躯干、四个带有双自由度肩关节的电机驱动主动腿以及四个气动柔性褶皱主动附着-分离脚组成。自适应阻抗模型由四个输入参数组成：惯性系数、刚度系数、阻尼系数和分段预期足底力。机器人壁虎在其四只脚上安装了四个力传感器，通过这些传感器可以实时感知每只脚的法向力。基于传感器信号，分析了不同状态下脚的可变刚度特性。此外，还为机器人壁虎提出了一种具有全身刚柔力反馈耦合的自适应主动柔顺控制策略。给出了四组实验，包括在微重力环境下的开环运动控制、静态抗干扰实验、分段可变刚度实验和自适应柔顺运动控制。实验结果表明，所提出的控制策略效果良好，机器人壁虎展示了稳定附着和柔顺分离的能力，从而避免了正常冲击和微重力不稳定性。它实现了位置跟踪和力跟踪，同时对外界干扰表现出很强的鲁棒性。
