High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain
High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain
复制标题
在非结构化地形上携带潜在仪器的行星探测机器人具有稳定机器人本体的高适应性运动
DOI：
10.1016/j.cja.2020.11.012
复制
发表时间：
2021-01
影响因子：
5.7
通讯作者：
Si Jinge
中科院分区：
文献类型：
--
作者：
Xu Kang;Wang Shoukun;Wang Junzheng;Wang Xiuwen;Chen Zhihua;Si Jinge
行星探测移动的机器人（PEMR）具有可移动性、稳定性、高效率和高负载的能力，能够在行星表面执行特殊任务。提出了一种在非结构化地形上具有高适应性运动的电动并联轮腿六足机器人。此外，混合控制框架，它使机器人能够稳定地进行沉重的负载，以及通过利用腿和轮式运动穿越不平坦的地形，也提出了。基于该框架，机器人通过步态发生器（GG）控制多自由度腿进行高适应性运动以通过障碍物。此外，通过使用整体控制（WBC）的框架，机器人具有灵活地适应不平坦的地形的能力，通过姿态控制（AC）运动学地调节腿的长度，如主动悬架系统，并通过力/力矩平衡控制（FBC）平均分配地面反作用力（GRF），以保持稳定的身体。仿真和实验验证了所提出的框架与行星模拟环境中的物理系统。特别是，为了顺利展示机器人搬运重物的性能，部署了搬运约240 kg的3人负载的实验。
There is a strong demand for Planetary Exploration Mobile robots (PEMRs) that have the capability of the traversability, stability, efficiency and high load while tackling the specialized tasks on planet surface. In this paper, an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is presented. Also, the hybrid control framework, which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion, is also proposed. Based on this framework, robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator (GG). Additionally, by using Whole-Body Control (WBC) of framework, robot has the capability of flexibly accommodating the uneven terrain by Attitude Control (AC) kinematically adjusting the length of legs like an active suspension system, and by Force/torque Balance Control (FBC) equally distributing the Ground Reaction Force (GRF) to maintain a stable body. The simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog environments. Particularly, to smoothly demonstrate the performance of robot transporting heavy loads, the experiment of carrying 3-person load of about 240 kg is deployed.
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DOI：
10.1109/iros.2017.8206412
发表时间：
2017-09
期刊：
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
--
作者：
F. Cordes;Ajish Babu;F. Kirchner
通讯作者：
F. Cordes;Ajish Babu;F. Kirchner
影响因子：
5.2
作者：
Yvain de Viragh;Marko Bjelonic;Dario Bellicoso;Fabian Jenelten;Marco Hutter
通讯作者：
Yvain de Viragh;Marko Bjelonic;Dario Bellicoso;Fabian Jenelten;Marco Hutter
影响因子：
4
作者：
He Zhang;Yubin Liu;Jie Zhao;Jie Chen;Jihong Yan
通讯作者：
He Zhang;Yubin Liu;Jie Zhao;Jie Chen;Jihong Yan
影响因子：
8.3
作者：
Vytas SunSpiral;Dawn Wheeler;D. Chavez-Clemente;D. Mittman
通讯作者：
Vytas SunSpiral;Dawn Wheeler;D. Chavez-Clemente;D. Mittman
影响因子：
3.4
作者：
N. Nor;Shugen Ma
通讯作者：
N. Nor;Shugen Ma