基于跳蛛行为机理的六足机器人多步足全向跳跃和落地缓冲形态控制研究

Six legged walking robots will be major strategic technical equipments applied to the area of national resources development and defense construction in future, which can perform excellent passability and flexibility in an extreme environment by jumping. Considering that the existing jumping robot theory and technology cannot meet the requirement of flexible jumping locomotion of six legged robot, multiple legs jumping gait planning and landing buffering control is investigated based on the previous research on theory of kinematics, dynamics and contact impact control of the robot. Multiple legs jumping mechanism of salticid will be explored to propose a mathematical description method for multiple legs jumping kinematics and dynamics of a six legged robot with redundant degrees of freedom leg configuration will be proposed. Jumping principle of attitude compliance about prepared forward jumping and unprepared omni-directional jumping will be studied to realize gait planning and control of long distance jump and omni-directional jumping of the six legged robot. Variation law of the landing gait and posture of multiple legs will be analyzed and a multiple legs landing motion control model will be established, thus, a method for controlling the morphology of the multiple legs landing buffering will be put forward. The expected results will not only help improve the motion control theory system of six legged walking robot, but also provide theoretical and technical support for the promotion of independent innovation capability on bio-robot, which has important scientific significance and practical value.

六足机器人是未来应用于国家资源开发和国防建设领域的重大战略性技术装备，通过跳跃能在极端环境中展现卓越的通过性和灵活性。项目针对现有跳跃机器人相关理论技术难以满足六足机器人多步足灵活跳跃的情况，在前期六足机器人运动学、动力学及接触冲击控制理论研究的基础上研究该类机器人多步足全向跳跃规划控制和落地缓冲控制方法。揭示跳蛛多步足跳跃运动机理，建立具有冗余自由度的仿跳蛛腿部构型六足机器人的多步足跳跃运动学和动力学的数学描述方法。研究有备前向跳跃和无备全向跳跃的姿态顺应性跳跃原理，实现六步足驱动前向远距离跳跃步态和全向跳跃步态的规划与控制。分析跳蛛多步足落地步态及落地姿态变化规律，建立仿跳蛛多步足落地运动控制模型，提出仿跳蛛多步足落地缓冲形态控制方法。预期成果不仅有利于完善六足机器人运动控制理论体系，而且为我国仿生机器人自主创新能力的提升提供理论和技术支撑，具有重要的科学研究意义和实际应用价值。

研究了跳蛛各步足腿部构型和分布特点以及多步足跳跃过程腿部运动规律，建立了具有冗余自由度的关节转角轨迹和有效屈伸长度的映射关系，揭示了跳跃过程各步足腿部位姿和躯体姿态变化规律，完成了具有冗余自由度的仿跳蛛腿部构型多步足跳跃运动学模型的建立，对起跳准备相和加速相跳蛛脚力矢量变化规律和分布特征进行了分析，同时建立了仿跳蛛跳跃规律的躯体动力学模型。研究了跳蛛有备前向和无备全向跳跃各步足运动特征及时序规律，揭示出前向跳跃起跳准备相和加速相躯体姿态角变化对跳跃距离和高度的影响规律，建立了六步足前向远距离跳跃步态规划模型，探明了跳蛛无备起跳前姿态特征与跳跃方向的映射关系，对无备全向起跳过程姿态调整规律进行了分析，完成了六步足全向跳跃步态规划模型的建立。通过对机器人跳跃的空中阶段的分析，完成机器人腿部与机身姿态的耦合动力学关系的分析，以及对机身姿态控制策略的建立；实现了起跳阶段、空中阶段与落地阶段的足端轨迹与足端位置的规划，达到了空中飞行轨迹与落地姿态的调整；分析了机器人跳跃运动过程，找到了跳蛛多步足落地缓冲形态的调整规律，提出了具有自适应属性的机器人控制器的相关理论，根据环境自适应调整，使得落地缓冲具有稳定性。