摘要
未知复杂地形的精准感知与量化表征长期制约着六足机器人运动性能与作业效能的本质提升。针对传统基于外部传感的地形感知与表征方法普遍存在的感知范围局限、感知精度不足、表征效果欠佳等突出问题,研究借鉴足式生物地形感知机理,充分利用足端与地形交替离散接触特性,创新提出基于足端位置的六足机器人漫游地形感知与表征方法。通过构建时变机体坐标系下足端位置解算模型,解决漫游地形无序足端序列坐标高效求取难题。基于足端序列的周期化处理与矢量化描述,建立基于周期足端位置状态的局部地形量化表征方法,间接构建时变机体位姿与局部地形间周期映射关系。系统分析相邻周期机体位姿间耦合约束与变换机制,建立基于机体位姿变换的全局形貌拓扑重构方法,以连续精准机体位姿作为参照实现周期映射局部地形的拓扑拼接。样机实验结果表明,基于足端位置的六足机器人地形感知与表征方法相比传统方法能够在无需增设外部观测传感器件条件下较为精准合理的量化表征不同特征局部地形,并实现漫游地形全局形貌的精准拓扑重构。
The perception and representation of unknown complex terrains restrict the raise of motion property and operational efficiency of hexapod robots for a long time. Aiming at the significant issues of traditional terrain perception and representation methods based on external sensing, such as the limitation of perception range, insufficient perception accuracy and poor representation effect, the method of perception and representation of roaming terrain for hexapod robot based on foot positions is innovatively proposed by researching on the terrain perception mechanism of multi-legged creatures and making full use of the characteristic of alternative discrete contact between feet and terrains. A computing model is constructed to efficiently obtain the coordinates of disordered foot positions in the time-varying body coordinate system. Based on the periodic processing and vectorized description of foot sequences, a local terrain representation method based on foot positions is established and the mapping relationship between the time-varying body poses and local terrain is constructed. The coupling constraint and the transformation mechanism between body poses during adjacent periods is systematically analyzed and then the global terrain reconstruction method is established. The splicing of periodic local mapping terrain by setting continuous and accurate body poses as the reference is realized.The experiment shows that this method can represent different local terrains more accurately and reasonably without additional external sensors than traditional methods and accurately reconstruct the global topography of roaming terrain.
作者
张明路
王哲
李满宏
张建华
陈俊杰
ZHANG Minglu;WANG Zhe;LI Manhong;ZHANG Jianhua;CHEN Junjie(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2021年第19期48-60,共13页
Journal of Mechanical Engineering
基金
国家自然科学基金(61803142,U1913211)
河北省自然科学基金(F2021202016,F2018202210)资助项目。
关键词
六足机器人
运动学分析
地形感知
量化表征
形貌重构
hexapod robot
kinematics analysis
terrain perception
quantitative characterization
morphology reconstruction
