Bio-inspired Smart Attachment and Adaptive Neuromechanical Control for Highly Efficient Locomotion and Adaptation to an Autonomous Climbing Robot

仿生智能附件和自适应神经机械控制可实现自主攀爬机器人的高效运动和适应

• 批准号: 410547361
• 负责人: Professor Dr. Stanislav N. Gorb
• 金额: --
• 依托单位: National Natural Science Foundation of China
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2019
• 资助国家: 德国
• 起止时间: 2018-12-31 至 2023-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/410547361?language=en
• 关键词: Bio; inspired; Smart; Attachment; Adaptive

Climbing robots are able to move on smooth or rough ground, walls or ceilings, and have wide application prospects in public and national security areas, narrow space detection, and cityscape services. Legged climbing robots, having a strong adaptability to the environment, can cross the complex terrain surface and have good movement flexibility. At present, their control and movement generation mainly rely on engineering approaches where online learning and adaptation have not been fully integrated. This limits the overall performance of the robot to deal with a changing environment. In contrast, geckos, insects, and spiders can efficiently walk and climb on different substrate slope and roughness. They can be stably attached and crawl on unsteady vertical (such as walls) or inverted (such as ceilings) surfaces in the natural environment, relying primarily on mechanical claw interlocking and foot pad adhesion as well as on the synergistic effect of both. Furthermore, they can even quickly adapt their locomotion to a change of their environment or an unknown situation. The versatile and adaptive abilities are the result of an integration of several ingredients embedded in their sensorimotor loop. Biological studies reveal that the key ingredients include biomechanics (e.g., adhesive pads and claws), sensory feedback, and adaptive neural control. Taking these ingredients into account for robot development together with in-depth studying and understanding attachment mechanisms of climbing animals in steady and unsteady states will lead to an adaptive, versatile, and efficient bio-inspired climbing robot. According to this, the purpose of the project is to 1) study and analyze the adhesive mechanisms of climbing animals based on the synergic action of claw mechanical interlocking and pad adhesion, and the multiple-peeling strategy of climbing animals for smart attachment control, 2) perform biological experiments, investigate locomotion behavior and its reaction forces of sprawled posture animals by using the former developed animal full-space motion behavior and reaction force testing system, and establish dynamic model of quadruped, 3) develop adaptive neuromechanical control with sensory feedback and online adaptation for stable and efficient climbing strategies, and 4) develop a bionic foot with adhesive pads and active claws. The developed bionic foot and adaptive neuromechanical control will be implemented on our autonomous climbing robot to achieve highly efficient locomotion and adaptation on changing incline angles and walls with smooth and different roughness substrates.

攀爬机器人能够在光滑或粗糙的地面、墙壁或天花板上移动，在公共和国家安全领域、狭窄空间探测、城市景观服务等方面具有广泛的应用前景。有腿爬行机器人对环境的适应能力强，可以穿越复杂的地形表面，具有良好的运动灵活性。目前，它们的控制和运动生成主要依靠工程方法，在线学习和自适应尚未完全融合。这限制了机器人处理变化环境的整体性能。相比之下，壁虎、昆虫和蜘蛛可以在不同的基材坡度和粗糙度上有效地行走和攀爬。在自然环境中，它们可以在不稳定的垂直（如墙壁）或倒置（如天花板）表面上稳定附着和爬行，主要依靠机械爪的互锁和脚垫的附着以及两者的协同作用。此外，它们甚至可以迅速调整自己的运动以适应环境的变化或未知的情况。多用途和适应能力是嵌入在它们的感觉运动回路中的几种成分整合的结果。生物学研究表明，关键成分包括生物力学（例如，粘合剂垫和爪子），感觉反馈和自适应神经控制。将这些因素考虑到机器人的开发中，并深入研究和理解爬行动物在稳定和非稳定状态下的附着机制，将导致适应性强、多用途、高效的仿生爬行机器人。基于此，本项目的目的是：1)研究分析基于爪机械联锁与垫附着协同作用的攀爬动物粘附机制，以及攀爬动物的多重剥离策略进行智能附着控制；2)进行生物学实验，利用先前开发的动物全空间运动行为与反作用力测试系统，研究四肢伸开姿势动物的运动行为及其反作用力。建立了四足动物的动力学模型；3)开发了基于感觉反馈和在线自适应的自适应神经机械控制，以实现稳定高效的攀爬策略；4)开发了具有粘垫和主动爪的仿生足。该仿生足部和自适应神经机械控制系统将应用于自主攀爬机器人上，实现机器人在不同光滑和粗糙度基底上对不同倾斜角和壁面的高效运动和自适应。