面向非结构化坡面的四足机器人位姿优化方法  

A Pose Optimization Method for Quadruped Robots on Unstructured Slopes

作　　者：孙茂琳 秦建军 曹钰 陈锡夫[1,2,3] 邵派 房世豪 赵越 SUN Maolin;QIN Jianjun;CAO Yu;CHEN Xifu;SHAO Pai;FANG Shihao;ZHAO Yue(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing 100044,China;Key Laboratory of Vehicle Advanced Manufacturing,Measuring and Control Technology(Beijing Jiaotong University),Ministry of Education,Beijing 100044,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100044 [2]北京市建筑安全监测工程技术研究中心,北京100044 [3]载运工具先进制造与测控技术教育部重点实验室(北京交通大学),北京100044

出　　处：《机床与液压》2024年第21期43-51,共9页Machine Tool & Hydraulics

基　　金：北京市属高校基本科研业务费专项资金项目(X20060);北京建筑大学研究生创新项目(PG2023141);北京市建筑安全监测工程技术研究中心研究基金项目(BJC2020K012);载运工具先进制造与测控技术教育部重点实验室(北京交通大学)开放课题基金项目。

摘　　要：为了提升四足机器人应对非结构化坡面的能力,提出一种面向非结构化坡面的位姿优化方法。根据四足机器人足端的位置估计了不规则坡面的角度和前进方向的角度并建立虚拟坡面;接着分析四足机器人在坡面行走时的稳定裕度和足端最远可达距离和最大跨越高度等坡面运动性能;然后利用稳定裕度、足端最远可达距离和最大跨越高度以及倾覆率等坡面运动性能通过加权构建单目标函数,并用海洋捕食者算法求解得到位姿参数的最优值,对四足机器人进行控制。最终通过MATLAB和Webots联合仿真,验证了所提位姿优化方法可以使四足机器人在应对不同场景的坡面时提升相应的能力,增强了四足机器人的非结构化坡面应对能力。In order to enhance the ability of quadruped robots to cope with unstructured slopes,a pose optimization method for unstructured slopes was proposed.The angle of the irregular slope and the angle of the forward direction were estimated based on the position of the quadruped robot′s foot tips,and a virtual slope was established;the stability margin,maximum reachable distance and maximum crossing height of the quadruped robot during slope walking were analyzed;then,a single objective function was constructed by weighting the slope motion performance such as stability margin,furthest reachable distance and maximum crossing height at the foot end and overturning rate,and the optimal pose parameters were solved using the marine predator algorithm to control the quadruped robot.Finally,through the joint simulation of MATLAB and Webots,it is verified that the proposed pose optimization method can improve the corresponding ability of quadruped robots in dealing with different scenarios of slopes,enhancing their ability to cope with unstructured slopes.

关 键 词：四足机器人 稳定裕度 工作空间 海洋捕食者算法 联合仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]