小型两栖仿龟机器人多模式运动研究  

Research on Multi-mode Motion of the Miniature Amphibious Turtle-inspired Robot

作　　者：邢会明 刘畅[1] 郭书祥[2] 石立伟[2] 刘文智[1] 李海波[1] 赵岩[3] XING Huiming;LIU Chang;GUO Shuxiang;SHI Liwei;LIU Wenzhi;LI Haibo;ZHAO Yan(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Key Laboratory of Convergence Medical Engineering System and Healthcare Technology,The Ministry of Industry and Information Technology,School of Life Science,Beijing Institute of Technology,Beijing 100081,China;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [2]北京理工大学生命学院工业和信息化部融合医工系统与健康工程重点实验室,北京100081 [3]河北工业大学机械工程学院,天津300401

出　　处：《机器人》2022年第2期212-223,共12页Robot

基　　金：中央高校基本科研业务费专项资金(3072021CFJ0401,3072021CF0401);国家863计划(2015AA043202);国家自然科学基金(61773064,61503028);河北省博士后研究基金(B2020003020).

摘　　要：针对浅滩环境和水下狭窄空间的科研考察、资源勘探等任务,提出一种“腿-多矢量喷水”复合驱动的小型两栖仿龟机器人。通过研究“腿-多矢量喷水”复合式驱动系统的运动机理,设计仿生爬行步态和旋转步态。根据“腿-多矢量喷水”复合驱动机构的变结构特性,提出“H”、“工”和“X”等多模式运动。通过机器人水中运动学建模,建立基于实时动态推力矢量分配优化机制的水中3维自主运动控制方法。最后搭建机器人原型机,陆地上的多地形运动实验验证了机器人在非结构化浅滩环境中的适应能力强,水中运动控制实验验证了两栖机器人多模式运动控制的灵活性和可行性。A miniature amphibious turtle-inspired robot driven by a legged,multi-vectored water-jet composite driving system is proposed for scientific investigation and resource exploration in shallow shoal environment and underwater narrow space.The movement mechanism of the proposed driving system is studied,and bionic crawling and rotation gaits are designed.According to the variable structure characteristics of the proposed driving mechanism,“H”,“I”and“X”mode motion are proposed.By modeling the underwater kinematics,a three-dimensional underwater autonomous motion control method is established based on real-time dynamic thrust vector allocation and optimization mechanism.Finally,movement experiments on various terrains prove that the robot prototype has strong adaptability in unstructured shoal environment.Underwater motion control experiments verify the flexibility and feasibility of multi-mode motion.

关 键 词：仿生机器人 两栖机器人 多模式运动 步态设计 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]