野外山林作业的移动机器人

In mountainous terrain, the design and control of intelligence legged robot is a problem with both technical and scientific challenges. The study of this robot has scientific significance, which could benefit applications such as national defense, forest disaster relief, mineral resource exploration and exploitation. These scenarios are the most complex ones for robots, because they merge the difficulties inherent in unknown, unstructured environments with very different types of ground conditions. Currently, in mountainous terrain, the challenges of exploring and heavy loaded tasks bring much danger to human. Hence considering the complex and steep terrain of mountainous region, this project will investigate the design principle of robot automatics, including feature analysis of movement adaptability and type synthesis, dimensional synthesis of the robot system, detection of different ground condition under various weather, creation of mechanism for climbing flat and steep regions, collision avoidance and trajectory planning, as well as prototype and experiment. Those would provide theoretical support for the independent innovation, design and development of mountainous terrain legged climbing robot.

野外山林自然环境中行走作业机器人的设计与控制是智能机器人领域非常有科学和技术挑战的问题，研究该类机器人具有明显的科学意义,对国防建设、森林救援、矿藏探测、资源开发等应用有重要的实用价值。目前野外山林的探索，山地负重，无人区勘察等作业任务主要由人工完成。恶劣环境及陡峭地势对人员的安全构成了极大的威胁。针对野外山林等荒芜区域下的复杂环境，重点研究复杂及陡峭地形环境下山林行走作业机器人机构综合 ，足端拓扑与复杂地面适应性，野外山林行走作业机器人身体和足端的运动规划，人机交互与自律协同的控制原理，高功率密度新型“电机-液压”复合驱动原理以及六足野外山林行走作业机器人技术的开发。在此理论基础上，开发两种适用于山林爬坡负重高危区域的特种机器人，包括山林爬坡机器人和山林攀岩机器人，并进行示范应用。

本项目研究了野外山林作业移动机器人相关技术，主要工作包括：开发出带补偿功能的六维力传感器以及高功率密度一体化力控集成驱动单元；研究了末端特征和构态特征融合的多足机器人构型技术以及仿生机械设计技术，开发出仿昆虫、类螃蟹、类蜘蛛以及移动作业等4类六足机器人；开展了基于虚拟仿真环境的机器学习算法研究，机器人快速行走规划研究，基于视觉和力觉融合的环境感知与物理特性辨识研究以及基于任务链和行为链关联的人机交互与自律协同控制技术研究。.通过基础研究和技术开发，仿昆虫机器人在快速行走、视觉交互、导盲作业与雪地滑行等方面开展了应用性测试；类螃蟹机器人在月球探测、野外行走、负重拖拽、精准视觉行走、直升机野外着陆等方面开展应用测试，类蜘蛛机器人在低矮负重、陡坡攀爬、负重行走、底盘作业等方面展开应用测试，移动作业机器人在上下楼梯、开门、拧阀门、人机协作装配等方面开展了测试应用。以上研究为野外山林作业提供关键核心技术支撑。