基于尺度互异的腿式移动着陆器步态规划

Gait Planning of Legged Mobile Lander Based On Different Leg-Length Scales

随着深空探测的不断发展,为扩大巡视范围,迫切需要将现有的固定式着陆器拓展为集着陆功能和巡视功能为一身的可移动式着陆器。在完成着陆功能后,着陆器腿机构因杆件压溃导致尺度互异,这一特征对行走阶段的步态规划带来了挑战。提出了一种基于尺度互异的腿式移动着陆器步态规划方法。针对身体位姿优化、步幅和落足点选择、腿序设计等问题,对传统四足机器人步态规划方法做出改进。提供了两种步态策略,使其在尺度互异条件下能适应平坦路面和崎岖路面。最后以一特定的腿式移动着陆器构型为对象设计了数字样机仿真实验,验证了尺度互异条件下的步态生成方法的正确性和有效性。

As the deep space exploration evolves,it is urgent to expand the existing fixed lander into a mobile lander that integrates the landing and locomotion in order to expand the patrol range.After landing of the mobile lander,the dimensions of legs are different due to the collapse of buffers.This feature brings new challenges to the gait planning.A gait planning method for a legged mobile lander is presented based on leg-length scales differentiation.Two corresponding gait planning strategies are designed for flat and rugged roads based on different leg-length scales of legged mobile lander,focusing on the improved methods on body pose optimization,stride and foothold selection and leg sequence.Finally,a certain legged mobile lander mechanism is used to simulate on flat and rugged roads.The digital prototype experiment verifies the correctness and effectiveness of the abnormal gait planning method.