基于有限状态机的六足机器人人机协同指令优选方法  

Optimization method of man-machine cooperative decision-making instructions for hexapod robot based on finite state machine

作　　者：尤波[1] 董正 李佳钰[1,2] 陈潇磊 陈晨 丁亮[3] YOU Bo;DONG Zheng;LI Jia-yu;CHEN Xiao-lei;CHEN Chen;DING Liang(Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration,Harbin University of Science and Technology,Harbin 150080,China;Bristol Robotics Laboratory,University of Bristol,Bristol BS81TH,United Kingdom;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨理工大学黑龙江省复杂智能系统与集成重点实验室,哈尔滨150080 [2]布里斯托大学布里斯托机器人实验室,布里斯托BS81TH [3]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《控制与决策》2025年第1期327-335,共9页Control and Decision

基　　金：国家自然科学基金重点项目(91948202);国家自然科学基金面上项目(52175012);国家自然科学基金青年科学基金项目(52205013);黑龙江省自然科学基金联合引导项目(LH2020E088);机器人技术与系统国家重点实验室开放基金项目(SKLRS-2022-KF-18)。

摘　　要：针对六足机器人在复杂环境下如何决策出最优人机指令组合问题,提出将操控指令权限分配的过程分为离线和在线两个阶段.在离线阶段,将六足机器人运动过程中机身的稳定裕度、能量消耗和与障碍物的碰撞接触时间作为指令优选的约束条件,并建立评价函数实现在进入地形前获得最优的操控指令组合;在线阶段,依据上述3个约束条件量化有限状态机网络中的状态转移概率,并人为设置约束条件阈值作为触发条件,向最优的人机决策指令状态进行转换.最后利用半物理仿真系统进行实验,结果表明所提出的决策方法在稳定裕度上相对于其他操控方法提高约15%~25%;能量消耗上降低了约10%~50%;碰撞接触时间降低了约10%~50%.Aiming at the problem of how hexapod robots make optimal human-machine command combinations in complex environments,it is proposed to divide the process of assigning control command permissions into two stages:offline and online.In the offline stage,the stability margin of the hexapod robot body,energy consumption,and collision contact time with obstacles during the motion process are used as constraints for command optimization,and an evaluation function is established to obtain the optimal control command combination before entering the terrain;In the online stage,the state transition probability in the finite state machine network is quantified based on the three constraints mentioned above,and the constraint threshold is manually set as the triggering condition to transition to the optimal human-machine decision instruction state.Finally,experiments are conducted using a semi physical simulation system,and the results show that the proposed decision method improves the stability margin by about 15%∼25%compared to other control methods;The energy consumption decreass by about 10%∼50%;The collision contact time is reduced by about 10%∼50%.

关 键 词：六足机器人 有限状态机 协同决策 指令优选 约束条件 评价函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]