基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究

Simulation and Experimental Study of an Energy-based Control Method for the Serpentine Locomotion of a Snake-like Robot

能量作为最基本的物理量之一,联系着蛇形机器人蜿蜒运动的各个方面.能量耗散描述了环境交互作用,能量转换对应着运动的动力学过程,能量平衡反映了蜿蜒运动的协调性.提出一种基于能量的蛇形机器人蜿蜒运动控制方法被动蜿蜒.通过输出关节力矩控制机器人蜿蜒运动,由机器人的能量状态调整力矩的大小.仿真结果显示了被动蜿蜒控制下机器人的构形、角度、力矩、能量状态和转弯特性,并对控制力矩进行了递归分析.基于Optotrak运动测量系统构建了被动蜿蜒控制的模拟/物理混合实验系统.进行了移动实验和拖动实验,前者改变环境的摩擦特性,后者改变机器人的负载.仿真和实验验证了蛇形机器人被动蜿蜒控制的有效性和适应性.

Energy plays an important role in the serpentine locomotion of a snake-like robot.The energy dissipation describes the environmental interaction;the energy transformation reflects the locomotion dynamics;the energy balance relates to the locomotion coordination.An energy-based control method for a snake-like robot,named passive creeping,is proposed.This method controls the robot by using torque inputs which are adjusted by the robot s energy state.In simulation,the configurations,angles,torques,energy states,and turning characteristics are revealed,and the torque data are analyzed by using a recurrence plot.Based on an Optotrak motion capture system,a virtual/physical mixed experimental system is constructed.A locomotion experiment and a drag experiment are performed.The former changes the environment,and the latter alters the payload.The simulations and experiments demonstrate the validity and adaptability of the passive creeping.