摘要
足力分配算法能够通过约束条件及目标函数的设计优化足端接触力,使多足机器人达到提高崎岖地形通过能力、提高行走稳定性以及降低能耗等目的。提出了一种增强六足机器人爬坡能力的分步二次规划足力分配算法,设计了可以减小最大牵引系数(足端切向力与法向力之比)的目标函数,并且建立了六足机器人约束模型。分步二次规划方法分别分配法向力和切向力,前后两步均为二次规划,可以应用于六足机器人实时控制。搭建足力分配算法仿真平台并采用该足力分配算法对不同步态行走的六足机器人进行了仿真分析,结果表明相比于传统方法,分步二次规划足力分配算法的最大爬坡角度更大。采用六足机器人试验平台ElSpider验证了该足力分配算法的性能。在相同坡度条件下,采用不同步态进行爬坡时,该足力分配方法相比于传统方法降低了所需的最大牵引系数。
Contact force distribution algorithm(CFDA), which aims at optimizing contact forces for each supporting legs, could increase the traverse ability, enhance walking stability and reduce energy consumption for hexapod robot under uneven terrain by setting up constraint model and designing object function. A new decomposed quadratic programming(QP) algorithm to enhance the slope-climbing ability has been proposed, by designing an object function aiming to decrease the maximum tractive coefficient of supporting legs and setting up constraint model for hexapod robot. The new decomposed QP algorithm first distributes normal contact forces and then distributes tangential contact forces. The two steps are all solved by convex optimization, so the new algorithm could be used in real time control. Simulation platform is built and relative simulations have been done about hexapod walking on different gaits using this new decomposed QP algorithm. The results show that the maximum climbing angle of decomposed QP algorithm is more higher compared to traditional pseudo-inverse method. Robot prototype named ElSpider is used to verify the performance of the new method. Experiment results show that the new method could decrease the maximum of tractive coefficient under same climbing angle.
作者
王冠宇
丁亮
高海波
刘逸群
刘宇飞
刘振
邓宗全
WANG Guanyu;DING Liang;GAO Haibo;LIU Yiqun;LIU Yufei;LIU Zhen;DENG Zhongquan(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080;School of Automotive Engineering,Harbin Institute of Technology,Weihai 264209)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2019年第21期11-20,共10页
Journal of Mechanical Engineering
基金
国家自然科学基金(51575120)
国家自然科学基金委创新研究群体项目(51521003)
机器人技术与系统国家重点实验室(SKLRS201501B,SKLRS20164B)
“111计划”(B07018)
哈尔滨市应用技术研究与发展项目(2015RQQXJ081)资助项目
关键词
六足机器人
足力分配
分步二次规划
爬坡能力
hexapod robot
contact force distribution
decomposed quadratic programming
slope-climbing ability
