面向山林环境的爬-步四足机器人关键技术

There is great demand for exploring, developing and protecting the huge resources of mountain forests. But its complex topography, landform and surface urgently calls for deploying adaptive robots in such environment cooperating with humans in tasks such as supplies delivery and environmental information probing. This project aims to study a quadruped robot with electric motors and gait synthesis, focusing on the design of mechanical structure, the stability of motion control, the mechanism, optimization and evaluation of energy consumption, the perception of and the local path optimization in complex environment of mountain forests, the analysis of simulation platform and the verification of physical platform. This project aims to achieve several breakthroughs in research topics such as the integrate design of structural transformation between crawl-like and walk-like structures, the strategy for stable motion control of a crawl-walk like quadruped robot, the local path optimization based on the 5-dimensional perception of complex environment, the motion control optimization of a crawl-walk like quadruped robot based on optimal energy consumption. The completion of this project will improve the design and analysis methods of robots operating in complex environment, and will have theoretical significance and practical value in developing robots operating in mountain forests with structural transformation and energy-efficient control.

山林环境蕴含巨大资源需要勘查、开发和保护，但其地形、地貌和地面复杂，迫切需要能适应该类环境的机器人来协同人类完成物资运送、环境信息探测等任务。本项目拟研究适应山林环境的电驱融合步态的四足机器人机构设计及稳定运动控制，能量消耗机理、优化与评估，山林复杂环境感知和局部路径优化，仿真分析与物理验证平台。拟重点突破仿爬-步变机构构型一体化设计，爬-步四足稳定运动控制策略，基于5D复杂环境感知的局部路径优化，基于能量最优的爬-步四足机器人运动优化控制等。该项目的完成将进一步完善适合复杂环境作业的机器人设计、分析方法，对推动变机构、高能效山林机器人的研发具有重要的理论意义和实用价值。

本项目围绕适应山林环境的电驱融合步态的四足机器人机构设计及稳定运动控制开展研究，取得面向山林环境的爬-步四足机器人关键技术的理论与方法的突破；建立爬-步可变构型机构一体化设计及主动力柔顺控制策略，稳定运动控制方法，5D 环境感知与局部路径规划，运动能量消耗机理分析、优化与评估；构建仿真分析与物理验证平台。.依托本项目资助，研究团队成员发表论文31篇，其中SCI论文19篇、EI论文12篇；申请国家发明专利24项，其中授权国家发明专利6项，实用新型专利1项；软件著作权2项；搭建四足机器人室内崎岖路面落脚点规划和局部路径规划验证平台一套 ，单腿测试平台两套，四足机器人测试平台一套，单腿测试与仿真一体化测试等室内验证平台3套。培养博士生研究生32人，硕士研究生57人，青年骨干教师26人。