足式爬行机器人研究进展与发展趋势  

Review of Multi-Legged Crawling Robot

作　　者：陈致远 涂群章 张详坡 潘明 蒋成明 黄皓 CHEN Zhiyuan;TU Qunzhang;ZHANG Xiangpo;PAN Ming;JIANG Chengming;HUANG Hao(Field Engineering College, Army Engineering University of PLA, Nanjing 210007, China)

机构地区：[1]陆军工程大学野战工程学院,南京210007

出　　处：《兵器装备工程学报》2020年第9期1-12,共12页Journal of Ordnance Equipment Engineering

基　　金：国家重点研发计划项目(2016YFC0802903)。

摘　　要：足式爬行机器人对复杂地形环境有着高度的适应性,在灾害救援、军事侦察、星球探索等领域具有广阔的应用前景。自足式爬行机器人发展以来,解决腿部串并联机构的强耦合性问题实现复杂环境下的稳定运动控制,是该领域研究的重点和难点。按照仿生与否分两类综述近十年国内外研制的足式爬行机器人的结构与性能特点;从灵巧机械机构创新设计、稳定性标定技术、爬行步态规划与运动控制和机器人感知技术4个方面介绍足式爬行机器人研究的关键技术;针对足式爬行机器人的发展趋势给出了五点展望:运动机理仿生化、能量利用高效化、结构材料新型化、运动模式复合化、感知技术多模化。The multi-legged crawling robot,due to its adaptability in complex terrain,has been extensively applied in military reconnaissance,planetary exploration and other fields.Owing to the strong coupling of its leg series-parallel mechanism and the complexity of the working environment,the motion stability control of the multi-legged crawling robot is a difficult problem to be solved.The structure and performance characteristics of multi-legged crawling robots developed in the recent ten years were reviewed according to whether they were bionic or not.Then,the key technologies applied in this field were introduced from four aspects:the innovative design of mechanism,the stability calibration technology,gait planning and motion control strategies and vision systems.Five prospects were given for the development trend of the multi-legged crawling robot:bionic motion mechanism,economical energy consumption,utilization of new materials,compound motion mode and syncretic sense system.

关 键 词：足式爬行机器人 机构创新设计 稳定性标定技术 仿生控制技术 步态规划 机器人视觉 能量效率 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]