机器人楼梯环境重心自调整策略研究  

Research on Self-adjustment Strategy of Center of Gravity in Robotic in Staircase Environment

作　　者：李宗奇 李艳杰[1] 卜春光[2,3] 范晓亮[2,3] LI Zongqi;LI Yanjie;BU Chunguang;FAN Xiaoliang(Shenyang Ligong University,Shenyang 110159,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Innovation Institute of Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]沈阳理工大学机械工程学院,沈阳110159 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [3]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《沈阳理工大学学报》2025年第3期16-23,共8页Journal of Shenyang Ligong University

基　　金：国家重点研发计划项目(2022YFB4703605)。

摘　　要：针对移动机器人在楼梯环境中的运动稳定性问题,通过分析双摆臂移动机器人的运动学特性,建立相应的运动学模型。在此基础上,提出一种基于稳定锥模型和梯度搜索法相结合的重心自调整策略,能够根据机器人当前的姿态和环境条件实时优化质心位置,从而增强其在不同构型和复杂地形中的稳定性。Matlab与ROS联合仿真结果表明,在运动过程中重心调整策略能有效地调整质心位置,显著提高了机器人在楼梯环境中的稳定性,降低了倾覆风险。To address the motion stability problem of the mobile robot in the staircase environment,a corresponding kinematic model is established by analysing the kinematic characteristics of the double swing arm mobile robot.On this basis,a self-adjustment strategy of the center of gravity based on the combination of the stability cone model and the gradient search method is proposed,which is able to optimize the position of the center of mass in real time according to the robot's current attitude and the environmental conditions,so as to enhance its stability in different configurations and complex terrains.The joint simulation results of MATLAB and ROS show that the proposed centre of gravity adjustment strategy can effectively adjust the position of the center of mass during the motion process,which significantly improves the stability of the robot in staircase environments and reduces the risk of tipping over.

关 键 词：运动学仿真 稳定锥 重心自调整策略 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]