仿生六足机器人面向非结构化地形的落足点选取策略

Foothold Selection of a Biomimetic Hexapod Robot Walking on Rough Terrain

从地形的局部几何特征入手,提出了仿生六足机器人在非结构化地形下的落足点选取方法。通过对机器人落足原理的分析,结合足端形状提取外部地形的几何特征,设计了选取落足点的效用函数,并通过专家示教对其进行学习;利用支持向量机获得效用函数的数学表达。对模拟地形进行仿真实验,验证了该选取方法对落足点评估的有效性。

In this paper, a foothold selection method is proposed for a biomimetie hexapod robot walking on rough terrain based on the terrain local geometrical features. The principle for the robot selecting footholds is analyzed and the terrain features of the surrounding terrain are extracted taking foot shape into account. The utility function for selecting footholds is designed and learnt from an expert demonstration. The mathematical expression of the utility function is acquired by SVM （ Support Vector Machine）. The validity of the selection method to assess footholds is verified by simulation of a simulated terrain.