蟑螂机器人仿生机理及运动控制

Bionic Mechanism and Locomotion Control for a Cockroach Robot

对蟑螂机器人的仿生机理、基于行为控制系统、足模块设计、运动学和运动控制问题进行深入的分析。蟑螂的神经和肌肉运动系统是躯体运动及姿态实现的物质基础。通过工程模拟,研究在未知环境中蟑螂机器人如何通过行为控制方式来完成机器人的控制和步态生成。设计一种带有计算功能的足模块,最终目的是大量减少计算过程,以此保证蟑螂机器人非凡的灵活性。基于旋量理论和局部指数积公式,提出利用Paden-Kahan子问题法求解蟑螂机器人关节角位移的逆运动学方法,前向运动学的求解首先根据机体的自然约束来推导关节角之间的位置关系,然后用局部指数积公式推导机体位姿。运动控制采用分布式同步控制方式,并应用位置、速度和时间运动模式,保证了蟑螂机器人腿关节的轨迹跟踪精度与速度的平滑。仿真试验结果验证了上述仿生机制的有效性,并为进一步研究奠定了基础。

The bionic mechanism,behaviour based control system,leg module design,kinematics and locomotion control of a cockroach robot are analyzed in depth.The cockroach nervous-muscular system is the material foundation for the realization of body movement and orientation.Through engineering simulation,how the behaviour-based approach can be used for control and gait generation of a cockroach robot is investigated.A new leg module with calculation function is proposed in order to reduce the massive calculation process,thus ensuring the flexibility of the cockroach robot.Based on cockroach robot kinematics analysis,screw theory,and local product-of-exponentials formula,the inverse kinematics method is proposed,which uses Paden-Kahan sub-problems to directly obtain the displacement of joint angles.The forward kinematics derives the relationship between joint angles according to the natural restricts.Then the orientation of the robot is deduced by using local product-of-exponentials formula.The distributed synchronized control and position velocity and time movement pattern are used to ensure the trace tracking accuracy of the robot＇s leg joint,as well as the smoothness of velocity.The validity of the bionic mechanism is verified by simulation and experiment,which lays the foundation for further research.