大型重载救援机器人“人-机-环境”交互的基础理论与关键技术研究

大型重载救援机器人依赖操作者在灾难现场下进行复杂精细化作业，具有明显的“人-机-环境”交互特征。然而，救援机器人自身惯量大、系统阻尼低且机构耦合严重，环境非结构和难预测特征显著，导致“机-路面环境”、“机-作业环境”和“操作者-机器人”三大界面交互行为难以准确描述和精细调控。为此，本项目开展大型重载救援机器人的基础研究工作，具体包括：（1）揭示“机-路面环境”接触机理，提出混合行走机构与驱动系统设计方法以提高复杂地形适应性；（2）探明“机-作业环境”耦合规律，提出主动阻尼补偿和柔顺控制技术以提高精细作业柔顺性；（3）建立“操作者-机器人”交互机制，提出行为精确感知和多模态反馈技术以提高人机交互自然性。本项目旨在揭示救援机器人“人-机-环境”共融的基本科学原理，为其精细化作业需求提供关键技术支撑。

Relying on operators, large-scale heavy-load rescue robots realize complex fine operation at the disaster site. It has obvious “human-machine-environment” interaction characteristics. However, the rescue robot has large inertia, low system damping and severe coupling mechanism. The environment is unstructured and difficult to predict. As a consequence, the interactive behaviors of three interfaces, “machine-road environment”, “machine-working environment” and “manipulator-robot”, are difficult to accurately describe and precisely control. Therefore, the basic research on the large-scale heavy-load rescue robots is carried out in this project: (1) The contact theory of “walking mechanism-unstructured road environment” will be revealed. The design method for the walking mechanism and the drive system will be proposed to improve the complex-terrain adaptability. (2) The coupling mechanism of “machine-complex environment” will be explored. The active damping and compliance control methods will be proposed to improve the compliance of fine operation. (3) The natural interaction mechanism of “operator-robot” will be revealed. The precise perception of human behaviors and multimodal environment feedback techniques will be proposed to improve the naturality of human-machine interaction.The purpose of this study is to reveal the basic scientific principles in fusing the "man-machine-environment" interaction of rescue robots, which will provide the key technical support for fine manipulation in disaster relief.