Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot  

作　　者：Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding 

机构地区：[1]The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration,Harbin University of Science and Technology,Harbin,150080,China [2]The State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,150001,China

出　　处：《Journal of Bionic Engineering》2024年第5期2199-2214,共16页仿生工程学报(英文版)

基　　金：The funding has been received from National Natural Science Foundation of China with Grant nos.52205013,52175012;Fundamental Research Foundation for Universities of Heilongjiang Province with Grant no.2022-KYYWF-0122;Natural Science Foundation of Heilongjiang Province with Grant no.LH2020E088;Foundation of State Key Laboratory of Robotics and Systems with Grant no.SKLRS-2022-KF-18.

摘　　要：This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs fails.The proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various terrains.The foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization methods.By formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this issue.Simulations of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization approach.The results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion stability.In summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关 键 词：Hexapod robot FAULT-TOLERANT Stability margin Contact force optimization 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]