弱引力下的六足机器人附着与移动控制方法  

Adhesion and Locomotion Control of a Hexapod Rover in Low Gravity Environment

作　　者：张仕林 张斌斌[1] ZHANG Shilin;ZAHNG Binbin(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,Hunan,China)

机构地区：[1]国防科技大学空天科学学院,湖南长沙410073

出　　处：《上海航天（中英文）》2024年第5期136-144,177,共10页Aerospace Shanghai（Chinese&English）

基　　金：省部级项目。

摘　　要：针对小天体上弱引力带来的脱附难题,研究了适用于小天体星表弱引力环境的六足机器人附着与移动控制方法。建立了足-地接触动力学模型,分析得到六足机器人实现弱引力条件下附着而不脱离、移动而不打滑的力学约束条件。根据六足机器人的机构特点和移动形式,设计了基于三角曲线的平稳步态规划方法,以抑制移动过程中机器人足端所受的冲击效应;建立了基于末端步态偏置的多足协同主动附着方法,保证机器人对小天体星表的稳定附着。最后,通过一个仿真案例,验证了该控制方法的有效性,为弱引力条件下六足机器人的移动探测任务提供了新思路。In order to address the detachment problem caused by low gravity on small celestial bodies,a locomotion and adhesion control scheme for a hexapod rover in low gravitational environment is studied.First,a footground contact dynamics model is established,and the mechanical constraints of the hexapod rover to achieve adhesion without detachment and locomotion without slipping under low gravitational conditions are analyzed.Second,according to the mechanism characteristics and movement form of the hexapod rover,a smooth gait planning method based on a triangular curve is designed to suppress the impacts of the rover’s feet during locomotion.Third,a multi-legged cooperative adhesion method based on the terminal gait offset is established to ensure the stable adhesion of the rover to a small celestial body.Finally,through a simulation case,the effectiveness of the control scheme is verified,providing a new idea for the mobile detection task of a hexapod robot under low gravitational conditions.

关 键 词：小天体 弱引力 六足机器人 步态规划 附着与移动控制 

分 类 号：V476.9[航空宇航科学与技术—飞行器设计]