摘要
机器人足端与沙土相互作用力学模型的建立和参数辨识,是沙土表面步行移动机器人多模态感知和决策的重要约束条件和物理信息。C形腿构型在沙土表面具有高通过性和适应性,基于地面动力学中的抵抗力学理论,充分考虑C形腿在摆动步态条件下位姿和速度矢量对足地相互作用动态力学的影响,进而建立C形腿与沙土的相互作用力学模型。然后,通过三组宽度条件的C形腿与沙土表面的转动接触力学试验,提取数据并分析水平和竖直接触力随姿态角度的变化规律。然后,通过积分模型的解析推导获得线性表达形式,基于递归最小二乘算法对未知参数矩阵进行逐项推导。最后,基于逐项迭代输入输出矩阵函数,获得参数在已有数据样本容量空间内的辨识结果。与试验结果相比,辨识后的预测竖直力和水平力误差分别为4.05%和4.22%,验证参数辨识的准确性和有效性。辨识的参数能够反映沙土地面的部分物理特征,基准值则反映腿部几何构型对力学模型的影响。
The establishment of mechanical model and parameter identification of the interaction between robot foot and sand are important constraint conditions and physical information for multi-modal perception and decision-making for legged mobile robot on sandy terrain surface.Since high trafficability and adaptability on sandy terrain surface can be achieved for the C-shaped legged configuration,the influences of positional posture and speed vector to the dynamic foot-terrain interaction mechanics for C-shaped leg under the condition of swing gait based on resistance force theory in terradynamics are fully considered,then a contact mechanics model between the C-shaped foot and sandy soil is established.Through rotational contact mechanics experiments between C-shaped leg and sandy terrain surface under three width group conditions,the data are extracted and variation laws of contact forces in horizontal and vertical direction to different attitude angles are analyzed.Hence,the linear expression is obtained through analytical derivation of the integral model,these unknown parameter matrixes are deduced item by item based on the recursive least square algorithm.Finally,based on the item-by-item matrix function indicating iterative input-output relations,the parameters identification results depending on the existing data sample size space are obtained.Compared with the experimental results,the errors of predicted vertical force and horizontal force generated in identification are 4.05%and 4.22%respectively,which verifies the accuracy and effectiveness of parameter identification.Some physical properties of sandy terrain can be revealed through these identified parameters,and the influences of leg geometrical features on mechanical models can also be indicated by these reference values.
作者
杨传潇
胡雄
孙士斌
顾邦平
丁亮
唐德威
高海波
邓宗全
YANG Chuanxiao;HU Xiong;SUN Shibin;GU Bangping;DING Liang;TANG Dewei;GAO Haibo;DENG Zongquan(School of Logistic Engineering,Shanghai Maritime University,Shanghai 201306;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2023年第6期214-225,共12页
Journal of Mechanical Engineering
基金
国家重大研究计划资助项目(91948202)。
关键词
C形腿
转动相互作用
地面动力学
递归最小二乘法
参数辨识
C type leg
rotary interaction
terradynamics
recursive least square method
parameters identification
