双轮足机器人运动模式切换规划算法与仿真  

Planning Algorithm and Simulation of Locomotion Mode Switching with a Biped Wheel-Legged Robot

作　　者：蔡润铭 张爱民 周仁义 CAI Runming;ZHANG Aimin;ZHOU Renyi(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China;Automotive Engineering Research Institute,Guangzhou Automobile Group Co.,Ltd.,Guangzhou Guangdong 511434,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006 [2]广州汽车集团股份有限公司汽车工程研究院,广东广州511434

出　　处：《机床与液压》2024年第23期26-31,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(62203126);2022年广东省科技创新战略专项资金项目(pdjh2022a0148)。

摘　　要：针对传统轮足机器人运动稳定性差和两种运动模式切换难以可靠实现的问题,构造一种新的机器人构型,并分析其拟人足式步态。通过借鉴样条曲线平滑性与四元数球面插值,提出一种基于能量优化的无滑移运动模式切换规划模型。在保证硬件约束、无滑移和关节运动平滑的前提下,旨在求解一个平滑且能耗较小的运动模式切换轨迹。通过建立时间矩阵、样条曲线和关节力矩之间的关系,降低求解的复杂度。仿真结果表明:该算法能有效地规划该机器人运动模式切换;与其他运动轨迹相比,该方法在能量消耗方面有显著改善。Aiming at the problems of poor motion stability and the difficulty of switching between two locomotion modes of traditional wheel-legged robots,a new robot configuration was constructed and its humanoid foot gait was analyzed.By referring to the smoothness of the spline curve and the quaternion spherical interpolation,a no-slip motion mode switching planning model based on energy optimization was proposed.Under the premise of hardware constraint,no slip and smooth joint motion,a smooth locomotion mode switching trajectory with less energy consumption was solved.By establishing the relationship between time matrix,spline curve and joint torque,the complexity of solution was reduced.The simulation results show that the algorithm can plan the locomotion mode switching of the robot effectively.Compared with other motion trajectories,this method has a significant improvement in energy consumption.

关 键 词：轮足机器人 能量优化 运动模式切换 运动规划 

分 类 号：TH165[机械工程—机械制造及自动化]