全方向蠕动机器人斜坡步态智能控制方法仿真

Simulation of Gait Gait Intelligent Control Method for Omnidirectional Creeping Robot

蠕动机器人应用范围不断扩展,其步态控制十分必要.针对当前机器人步态控制相关方法存在避障性能较弱、响应耗时长的问题,将EFSA算法应用至全方向蠕动机器人斜坡步态智能控制中,使机器人移动更加平稳高效.分析全方向蠕动机器人运动模式,得到其在斜坡移动中各关节最大转角.对机器人运行斜坡的宽阔性与平坦性进行检测,判断移动环境.结合机器人运动学分析与运动环境检测,引入EFSA算法对机器人斜坡步态进行控制.根据全方向蠕动机器人移动的切向量、背部方向向量、腹部方向向量、曲率和挠率,构建扩展Frenet-Serret模型,并计算模型成立条件.通过Frenet-Serret成立条件判断机器人移动规律约束表达式,依据约束条件得到机器人斜坡步态规律,实现全方向蠕动机器人斜坡步态智能控制.实验结果表明,所提方法可以高效避开移动过程中的障碍物,且响应速度快.该方法整体性能优越,可靠性与鲁棒性均很强,是一种可行的机器人步态控制方法.

The application range of peristaltic robots is constantly,so it is necessary to control the gait. At presen t,the current robot gait control method only has weak obstacle avoidance performance and response time is too long. Therefore,we applied EFSA algorithm to the intelligent control of omnidirectional creeping robot slope walking gait,so that the robot moved more smoothly and efficiently. By analyzing the motion mode of omnidirectional creeping robot,we got the maximum rotation angle of each joint during the slope movement. After that,we detected the breadth and flatness of robot moving slope and judged the moving environment. Combined robot kinematics analysis with motion environment detection,we introduced EFSA algorithm to control the slope walking gait. According to the tangent vector,back direction vector,abdominal direction vector,curvature and torsion of the omnidirectional creeping robot Frenet-Serret model was extended and constructed,and then the establishment conditions of model were calculated. Based on Frenet - Serret establishment condition,the constraint expression of robot movement law was judged. According to the constraint condition,slope walking gait law of robot was obtained and the intelligent control of slope walking gait of omnidirectional creeping robot was achieved. Simulation results show that the proposed method can effectively avoid obstacles with fast response speed. Meanwhile,the method has superior overall performance,strong reliability and robustness. Thus,this method is a feasible method to control robot gait.