Study on Autonomous Distributed Coordinate Function for Multi-Legged Robot with Adaptation in Unknown Environment

针对具有未知环境自适应能力的多足机器人，研究了自主分布式坐标系。我研究了一种小型、轻便的月球车，它可以穿越崎岖的地形，比如陨石坑内的陡峭斜坡。已经开发出了六条腿机器人的原型。我研究了研制的用于行星探测的漫游车的系统概念、体系结构和配置。我可以得到关于每条腿的功能的信息。基于一些基本规则，提出了一种新的步行算法。该算法适用于任何结构的步行机器人。计算机仿真结果表明了该算法的有效性。我还可以获得有关步行性能的参数。这些参数对设计和开发步行算法非常重要。然后，提出了一种在崎岖地形上静态步行的步行方案。根据地形信息对行走机器人的本体进行控制。使用该方法，行走机器人可以在崎岖的地形上行走。通过图形仿真验证了所提出的控制方案的有效性，并提出了一种新的轻型机器人的重量布置设计思想，使其能够在凹坑、悬崖等崎岖地形中行走。进行了静、动态运动的设计分析。从步行机器人的速度和能量消耗的角度对其有效性进行了详细研究。开发了一台六足小型机器人，对所提出的设计方案进行了性能测试。计算机仿真和实验结果验证了所提方法的有效性和有效性。

Autonomous distributed coordinate system has been studied focusing on multi-legged robot with adaptation in unknown environment. I have studied a small and lightweight rover, which can move across a rough terrain such as a steep slope inside craters. A prototype of the robot with six legs has been developed. I have studied the system concept, architecture, and configuration of the developed walking rover for planetary exploration. I could obtain the information on functions of each legs. I proposed a new walking algorithm based on some basic rules. The proposed algorithm can be applied to walking robots with any architecture. The validity of the proposed algorithm is shown by some computer simulations. I also could obtain the parameters on the walking performance. These parameters are very important to design and develop the walking algorithms.Then I proposed a walking scheme for static walking on a rough terrain. The body of walking robot could be controlled based on terrain information. By using the proposed method, walking robots can travel on rough terrain. The effectiveness of the proposed control scheme is shown by graphical simulations.I also proposed a new design concept on weight arrangement for light-weight robots which can travel in such rough terrain as craters and cliffs. The design analysis on static and dynamic motion was performed. The effectiveness was studied in detail from the viewpoint of the speed and energy consumption of walking robots. A small robot with six legs was developed to investigate the performance of the proposed design scheme. The validity and effectiveness of the proposed methods were confirmed and verified by computer simulations and experimental results.