Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verifi...Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verification during the R&D phase. The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics, difficulty in simulating rough terrains, and high complexity making it difficult to realize mobility control in simulation systems. This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling, wheel-soil interaction mechanics, dynamics analysis, mobility control, and visualization for lunar rovers. Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0, 0.03, 0.05, 0.1, 0.2, 0.3, 0.4, and 0.6. The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module. In addition, the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics, and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS. The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS. Finally, a virtual simulation system for lunar rovers is developed. A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched. The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS. The designed virtual lunar rover could follow the planned path on a rough terrain. This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.展开更多
Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is f...Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity （COG） height is presented. Simulations demonstrate the effectiveness of the proposed meth- od and the improvement of the adaptation of quadruped robots on rough terrain.展开更多
A quadruped robot is more adjustable to a complex terrain than a wheeled or caterpillar robot to realize the continuous adjustable motions characterized by submissiveness and low energy consumption in basic control of...A quadruped robot is more adjustable to a complex terrain than a wheeled or caterpillar robot to realize the continuous adjustable motions characterized by submissiveness and low energy consumption in basic control of the quadruped robot over rough terrain. This paper presents a static walking mode of ＂altitude hold＂, which means to keep absolute altitude by controlling limbs adjustably on the basis of which biokinetics studies have shown that quadrupeds can move with almost the same body altitude over rough terrains characterized by a nearly horizontal relief. The gait design specifies several characteristic states of stance phase and swing phase for a quadruped robot and controls the phase sequence and phase of four legs through change of characteristic states. Furthermore, we design a robot control system to generate adjustable gaits and control the coordinative movement of robot joints. This planning method is tested through ADAMS and MATLAB interactive co-simulation; the quadruped robot which has 8 degrees of freedom （8-DOF） is used to simulate the motion over a terrain character- ized by randomly arranged humps. The results show that this method can make the quadruped robot capable to walk over certain rough terrain.展开更多
A simplified 2D passive dynamic model was simulated to walk down on a rough slope surface defined by deterministic profiles to investigate how the walking stability changes with increasing surface roughness. Our resul...A simplified 2D passive dynamic model was simulated to walk down on a rough slope surface defined by deterministic profiles to investigate how the walking stability changes with increasing surface roughness. Our results show that the passive walker can walk on rough surfaces subject to surface roughness up to approximately 0.1% of its leg length. This indicates that bipedal walkers based on passive dynamics may possess some intrinsic stability to adapt to rough terrains although the maxi- mum roughness they can tolerate is small. Orbital stability method was used to quantify the walking stability before the walker started to fall over, It was found that the average maximum Floquet multiplier increases with surface roughness in a non-linear form. Although the passive walker remained orbitally stable for all the simulation cases, the results suggest that the possibility of the bipedal model moving away from its limit cycle increases with the surface roughness if subjected to additional perturbations. The number of consecutive steps before falling was used to measure the walking stability after the passive walker started to fall over. The results show that the number of steps before falling decreases exponentially with the increase in surface roughness. When the roughness magnitude approached to 0.73% of the walker＇s leg length, it fell down to the ground as soon as it entered into the uneven terrain. It was also found that shifting the phase angle of the surface profile has apparent affect on the system stability. This is probably because point contact was used to simulate the heel strikes and the resulted variations in system states at heel strikes may have pronounced impact on the passive gaits, which have narrow basins of attraction. These results would provide insight into how the dynamic stability of passive bipedal walkers evolves with increasing surface roughness.展开更多
A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating b...A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously.展开更多
A new method is proposed for the effective roughness length (ERL) in heterogeneous terrain based on the principle of equalisation of momentum or heat fluxes calculated by the drag coefficient parameterization scheme u...A new method is proposed for the effective roughness length (ERL) in heterogeneous terrain based on the principle of equalisation of momentum or heat fluxes calculated by the drag coefficient parameterization scheme used in the ECMWF numerical model. Compared with the area-weighted logarithmically averaged ERL (drag coefficient), the newly calculated ERL (drag coefficient) is about 40% (16%) larger with a roughness step of 2.3. These differences reach their maximum values when the ratio of smooth to rough surface is 60% to 40%. Since the determination by this method is not sensitive to the atmospheric stratification, it is suitable for use in climate models.展开更多
In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was estab...In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.In the simulation experiments,adaptive regulation of inter-leg phase sequence,omnidirectional locomotion and ground accommodation were realized.Moreover,statically stable free gait was obtained simultaneously,which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50975059, Grant No. 61005080)Postdoctoral Foundation of China (Grant No. 20100480994)+1 种基金Postdoctoral Foundation of Heilongjiang Province, Foundation of Chinese State Key Laboratory of Robotics and Systems (Grant No. SKLRS200801A02)College Discipline Innovation Wisdom Plan of China (111 Project, Grant No. B07018)
文摘Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verification during the R&D phase. The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics, difficulty in simulating rough terrains, and high complexity making it difficult to realize mobility control in simulation systems. This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling, wheel-soil interaction mechanics, dynamics analysis, mobility control, and visualization for lunar rovers. Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0, 0.03, 0.05, 0.1, 0.2, 0.3, 0.4, and 0.6. The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module. In addition, the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics, and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS. The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS. Finally, a virtual simulation system for lunar rovers is developed. A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched. The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS. The designed virtual lunar rover could follow the planned path on a rough terrain. This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.
基金Supported by the National High Technology Research and Development Program of China(863Program)(2011AA041002)
文摘Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity （COG） height is presented. Simulations demonstrate the effectiveness of the proposed meth- od and the improvement of the adaptation of quadruped robots on rough terrain.
基金supported by the National High Technology Research and Development Program of China (863Program) under Grant No.2011AA041001
文摘A quadruped robot is more adjustable to a complex terrain than a wheeled or caterpillar robot to realize the continuous adjustable motions characterized by submissiveness and low energy consumption in basic control of the quadruped robot over rough terrain. This paper presents a static walking mode of ＂altitude hold＂, which means to keep absolute altitude by controlling limbs adjustably on the basis of which biokinetics studies have shown that quadrupeds can move with almost the same body altitude over rough terrains characterized by a nearly horizontal relief. The gait design specifies several characteristic states of stance phase and swing phase for a quadruped robot and controls the phase sequence and phase of four legs through change of characteristic states. Furthermore, we design a robot control system to generate adjustable gaits and control the coordinative movement of robot joints. This planning method is tested through ADAMS and MATLAB interactive co-simulation; the quadruped robot which has 8 degrees of freedom （8-DOF） is used to simulate the motion over a terrain character- ized by randomly arranged humps. The results show that this method can make the quadruped robot capable to walk over certain rough terrain.
文摘A simplified 2D passive dynamic model was simulated to walk down on a rough slope surface defined by deterministic profiles to investigate how the walking stability changes with increasing surface roughness. Our results show that the passive walker can walk on rough surfaces subject to surface roughness up to approximately 0.1% of its leg length. This indicates that bipedal walkers based on passive dynamics may possess some intrinsic stability to adapt to rough terrains although the maxi- mum roughness they can tolerate is small. Orbital stability method was used to quantify the walking stability before the walker started to fall over, It was found that the average maximum Floquet multiplier increases with surface roughness in a non-linear form. Although the passive walker remained orbitally stable for all the simulation cases, the results suggest that the possibility of the bipedal model moving away from its limit cycle increases with the surface roughness if subjected to additional perturbations. The number of consecutive steps before falling was used to measure the walking stability after the passive walker started to fall over. The results show that the number of steps before falling decreases exponentially with the increase in surface roughness. When the roughness magnitude approached to 0.73% of the walker＇s leg length, it fell down to the ground as soon as it entered into the uneven terrain. It was also found that shifting the phase angle of the surface profile has apparent affect on the system stability. This is probably because point contact was used to simulate the heel strikes and the resulted variations in system states at heel strikes may have pronounced impact on the passive gaits, which have narrow basins of attraction. These results would provide insight into how the dynamic stability of passive bipedal walkers evolves with increasing surface roughness.
文摘A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously.
基金This work was supportedjointly by the National Key Basic Research DevelopmentProgram(G1999043400)and the National Natural ScienceFoundation of China under Grant Nos.40275021,and49975016.
文摘A new method is proposed for the effective roughness length (ERL) in heterogeneous terrain based on the principle of equalisation of momentum or heat fluxes calculated by the drag coefficient parameterization scheme used in the ECMWF numerical model. Compared with the area-weighted logarithmically averaged ERL (drag coefficient), the newly calculated ERL (drag coefficient) is about 40% (16%) larger with a roughness step of 2.3. These differences reach their maximum values when the ratio of smooth to rough surface is 60% to 40%. Since the determination by this method is not sensitive to the atmospheric stratification, it is suitable for use in climate models.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No. 2006AA04Z245)the Program for Changjiang Scholars and Innovative Research Team in University(Grant No. IRT0423)
文摘In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.In the simulation experiments,adaptive regulation of inter-leg phase sequence,omnidirectional locomotion and ground accommodation were realized.Moreover,statically stable free gait was obtained simultaneously,which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.
