月面六足机器人机构设计与行走控制方法综述  

Review on Mechanism Design and Walking Control Method of Lunar Hexapod Robot

作　　者：王小涛 张震 崔宇新 王卫军 韩亮亮 张崇峰 WANG Xiaotao;ZHANG Zhen;CUI Yuxin;WANG Weijun;HAN Liangliang;ZHANG Chongfeng(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Aerospace System Engineering Shanghai,Shanghai 210019,China;College of Electronic Information Engineering,Beihang University,Beijing 100191,China;Space Structure and Mechanism Technology Laboratory,China Aerospace Science and Technology Group Co.Ltd,Shanghai 201109,China)

机构地区：[1]南京航空航天大学航天学院,南京211106 [2]上海宇航系统工程研究所,上海210019 [3]北京航空航天大学电子信息工程学院,北京100191 [4]中国航天科技集团有限公司空间结构与机构技术实验室,上海201109

出　　处：《载人航天》2023年第2期264-275,共12页Manned Spaceflight

摘　　要：随着中国后续月面探测任务向更加复杂特殊地形深入,对具有强地形适应性的月面机器人提出了迫切需求。六足机器人具有机构冗余、行走静态稳定的特点,是应对月面复杂地形高机动性移动的典型解决方案。调研了国内外月面六足机器人的研究现状,对比了不同月面六足机器人的技术特点。在此基础上,梳理了现有六足机器人的机构设计和行走控制方法,对机器人单腿机构、足端构型、多足布局方式、步态规划与切换、足力分配与柔顺等方面进行了系统总结,以期为中国月面六足机器人的工程应用提供参考。China’s follow-up Lunar surface exploration missions will expand into more complex and special terrain in the future and this imposes an urgent need for Lunar robots with strong terrain adaptability.Hexapod robot has the characteristics of mechanism redundancy and static stability of walking,which is a typical solution for flexibility and mobility in lunar complex terrain exploration.In this paper,the research status of lunar hexapod robots at home and abroad were summarized,and the technical characteristics of different lunar hexapod robots were compared.On this basis,the mechanism design and walking control method of the Lunar hexapod robot were studied.The single leg mechanism,foot end configuration,multi-legs layout,gait planning and switching,foot force distribution and compliance of the Lunar hexapod robot were systematically summarized.This paper may provide reference for the engineering application of the Lunar hexapod robot for our country.

关 键 词：月面探测 六足机器人 移动系统 腿式机构构型 行走控制 

分 类 号：V423.7[航空宇航科学与技术—飞行器设计]