基于数字孪生的六足机器人高性能交互系统设计

Design of high-performance interactive system for hexapod robot based on digital twin

针对当前多足机器人在封闭且复杂的环境下作业时存在的遥操作实时监控困难、人机交互(HCI)友好性差等问题,提出基于数字孪生的高性能HCI系统。首先,着重对六足机器人在狭窄环境中运动的步态进行了研究;其次,使用CoppeliaSim构建多维多时空尺度的虚拟模型;最后,通过C++/Qt开发服务层软件来实现数据的双向实时映射和驱动,达到虚实同步的效果,提升交互的性能。实验结果表明:该系统可以显著提升机器人的控制效率和HCI友好性,为狭窄环境机器人的HCI设计提供了坚实基础。

Aiming at difficulties of real-time monitoring of teleoperation,and poor human-computer interaction(HCI)friendliness when multi-legged robots operate in closed and complex environments,a high-performance HCI system based on digital twin is proposed.Firstly,the gait of the hexapod robot in narrow environment is studied.CoppeliaSim is used to build multi-dimensional and multi-space-time scale virtual model.Finally,the service layer software is developed through C++/Qt to realize the bidirectional real-time mapping and driving of data,to achieve the effect of virtual-real synchronization and improve the interactive performance.Experimental results show that the system can significantly improve the control efficiency and friendliness of HCI of robots,and provide a solid foundation for the design of HCI of robots in narrow environments.