四足机器人变拓扑机构动态稳定步行机理及仿生机构综合研究

The quadruped robots have broad application prospects and important strategic significance in the field of planetary exploration, military and so on. The dynamic stability or dynamic balancing problem of the quadruped robots walking in unstructured environment is one of the key problems, which restricts their applications.In this project, the dynamic stability problem of the quadruped robot adapting to unstructured environments walking will be thoroughly studied by combining animal movement principles, mathematical modeling, mechanism synthesis and experimental research.①The dogs are taken as the bionic objects, and the high-speed movement capture and motion decomposition methods will be adopted to explore the dynamically stable walking principle of quadruped animals adapting to unstructured environment.②The bionic flexible body mechanism driven by pneumatic artificial muscle will be firstly researched in China, and the kinematics modules and the configuration transformation augmented matrix will be innovatively proposed to study the variable topology bio-mechanism synthesis.③The non-continuous variable constraint between foot-end and environment of quadruped robot will be studied. Based on the kinematics modules and configuration transformation augmented matrix, the nonlinear dynamic model of quadruped robot will be established, which has the characteristics of variable topology mechanism and non-continuous variable constraints, and the dynamic balancing will be explored based on the mechanical energy balance of the robot.④Finally, the quadruped bionic robot prototype will be developed, the experiment of movement bionic and dynamic balancing will be done to verify the theoretical analysis. This project will improve dynamic stability of quadruped robots adapting to unstructured environment and promote their applications, which is of great theoretical significance.

四足机器人在星球探测、军事等领域具有广阔应用前景和重要战略意义，非结构化环境动态步行稳定性或动平衡是制约其应用的关键问题。本项目通过生物运动机理分析、机构综合、数学建模和实验研究相结合方法，深入研究四足机器人适应非结构化环境动态稳定步行相关的基础问题：①以生物狗为仿生对象，采用高速运动捕捉，探究生物狗自适应非结构化环境的变拓扑机构动态稳定步行机理。②在国内率先研究四足机器人气动人工肌肉驱动的仿生柔性机体。首次提出运动模块及变拓扑机构构态变换增广矩阵，开展变拓扑仿生机构综合研究。③研究四足机器人足端非连续变约束，基于运动模块和构态变换增广矩阵，建立融合非连续约束的四足机器人变拓扑机构非线性动力学模型，分析基于机器人机械能量守恒的动平衡。④研制四足机器人原理样机，开展运动仿生及动平衡实验研究，验证理论分析正确性。本项目对提高四足机器人适应非结构化环境动态稳定性，促进其广泛应用具有重要理论意义。

本项目基于四足生物适应自然环境的动态稳定步行机理分析，开展四足仿生机器人非结构环境的动态稳定性理论研究，重点突破了四足机器人仿生机体机构、变拓扑机构步态规划、刚柔耦合动力学建模、动态稳定性等关键技术。首先，采用生物运动捕捉法，采集生物狗在平地、上下坡、斜坡路况下行走、对角小跑、原地转向、跳跃等步态方式，躯体和腿关节的运动学和动力学参数，分析生物自适应自然环境的躯体和生物腿的运动特性和动态稳定性机理，为四足机器人仿生机构设计和运动步态规划研究奠定基础。.其次，开展四足仿生机器人机构综合研究，包括仿生机体创新设计及四足机器人变拓扑机构构态变换分析。突破传统刚性机体结构，国内率先提出四足机器人的刚柔耦合仿生机体，创新设计气动人工肌肉驱动和柔索驱动的两种仿生机体，研究刚柔耦合仿生机体动力学模型及其动态弯曲特性。针对四足机器人动态稳定步行中的串联与并联交替变换特征，研究四足机器人适应非结构化环境的变拓扑机构构态变换，为四足机器人动态稳定步态规划奠定理论基础。.第三，开展四足机器人变拓扑机构的动力学建模。根据四足机器人足端与环境间的非连续约束，建立动态稳定步行的非连续约束条件模型。基于此，研究具有浮动机体、冗余驱动、变拓扑机构、非连续变约束等特征的四足机器人非线性动力学模型，建立关节驱动力矩与关节运动速度、加速度、足端力的映射关系。.在此基础上，分别采用零力矩点法和能量边界法研究机器人坡道动态步行的稳定性；同时开展四足机器人原地转向步态规划，基于四足机器人仿生机体弯曲与原地转向的协调运动机理分析，采用重心投影法开展原地转向步态的稳定性研究，为开展四足机器人动态稳定步行实验研究奠定了基础。最后，研制四足仿生机器人原理样机，开展动态步行实验研究，验证理论分析的正确性。本项目研究对提高四足机器人自然环境动态稳定性，推动其应用，具有重要理论意义。