足式机器人单腿缺失故障的容错行走研究

Study on Fault Tolerant Walking of Legged Robot with Single Leg Missing

在足式机器人作业时,由于环境因素而导致腿部缺失的现象时常发生。单腿缺失的机器人按照原有的控制方式将无法继续行走甚至站立。为了提高机器人应对实际复杂环境的可持续工作能力,在无附加装置的条件下,提出一种调整后腿侧摆关节,增加稳定相的控制方法。通过对受损后的机器人进行静力学分析计算,得到机器人腿部侧摆关节旋转角度的最优解为21°。按一定梯度选取相邻系列角度值进行仿真试验对比,发现侧摆关节角度为21°时机器人的翻滚角始终在-2°~2°之间变化,并且增加稳定相后机器人的翻滚角变化幅值在16个步态周期后衰减了10.8%,从而验证了所提控制方法的有效性与正确性。

In the legged robot operation, the phenomenon of leg loss often occurs due to environmental factors. Single-leg missing robots will not be able to continue walking or even standing in accordance with the original control. In order to improve the sustainable ability of the robot to cope with the complicated working environment, a four-legged robot control method is proposed to solve the problem by adjusting the pendulum joint and increasing the stabilization phase without additional equipment. After calculating the static analysis of the damaged robot, the optimal solution of the rotation angle of the side pendulum is 21°. According to the comparison of the adjacent series of angle values, the roll angle of the robot is always changed between -2° to 2° when the angle of the pendulum joint is 21°, and the amplitude of the roll angle of the robot decreases by 10.8% after 16 cycles, which verifies the effectiveness of the proposed control method.