水下狭窄空间探测的仿河狸爬游式机器人稳态游动机理及实现方法研究

水下狭窄空间探测对于人类认知海洋、合理开发利用海洋乃至揭示地球的起源与演化过程以及用于救援、打捞和军事等意义重大。水下机器人作为探索水下的工具得到了广泛应用，然而现有的水下机器人并不能有效完成水下狭窄空间探测任务。本项目创新的提出一种仅采用一套驱动机构即可实现游动和爬行的仿河狸爬游式机器人，并以机器人稳态游动机理及实现方法作为研究的切入点；采用理论建模和感知修正方法，构建准确的机器人刚-柔-液耦合游动动力学模型；提出仿河狸爬游式机器人游动稳定性判据理论，基于离线规划、在线修正和自学习机制，探索机器人稳态游动的协调运动规划方法；采用非奇异快速终端滑模理论并结合扰动观测和交叉耦合控制策略，建立机器人稳态游动的同步协调控制理论。最终，探明了仿河狸爬游式机器人稳态游动机理及实现方法，为仿河狸爬游式机器人应用于水下狭窄空间探测奠定坚实的理论基础，有力提升人类水下探测能力。

The underwater confined space exploration is of great significance for human to cognize and reasonably develop and utilize the ocean, or even to reveal the origin and evolution of the earth, as well as to use for rescue, salvage, military, and so on. Underwater robots have been widely used as tools for underwater exploration, but they can not effectively complete the exploration task in underwater confined space. A beaver-like robot that can swim and crawl by using only one set of driving mechanism is proposed in this project, and the steady-state swimming mechanism of the robot and its realization method is taken as the breakthrough point of the research. Theoretical modeling and perceptual correction method are adopted to construct an accurate swimming dynamic model with rigid-flexible-liquid coupling of the robot. A swimming stability criterion for the beaver-like robot is proposed, and the coordinated motion planning method for steady-state swimming of the robot is studied based on the offline planning, online correction, and self-learning mechanism. The synchronous coordinated control theory for steady-state swimming of the robot is established using the nonsingular fast terminal sliding mode theory, perturbation observation, and cross-coupling control strategy. Finally, the study on steady-state swimming mechanism of the beaver-like robot and its realization method is completed. This work will lay a solid theoretical foundation for the application of the beaver-like robot in underwater confined space exploration, and effectively enhance the human’s underwater exploration ability.