Smart Gait:A Gait Optimization Framework for Hexapod Robots

The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural mammals.This paper proposes a gait optimization framework for hexapod robots called Smart Gait.Smart Gait contains three modules:swing leg trajectory optimization,gait period&duty optimization,and gait sequence optimization.The full dynamics of a single leg,and the centroid dynamics of the overall robot are considered in the respective modules.The Smart Gait not only helps the robot to decrease the energy consumption when in locomotion,mostly,it enables the hexapod robot to determine its gait pattern transitions based on its current state,instead of repeating the formalistic clock-set step cycles.Our Smart Gait framework allows the hexapod robot to behave nimbly as a living animal when in 3D movements for the first time.The Smart Gait framework combines offline and online optimizations without any fussy data-driven training procedures,and it can run efficiently on board in real-time after deployment.Various experiments are carried out on the hexapod robot LittleStrong.The results show that the energy consumption is reduced by 15.9%when in locomotion.Adaptive gait patterns can be generated spontaneously both in regular and challenge environments,and when facing external interferences.

精密小型Hexapod并联机器人标定实验及精度分析

为了提高精密小型Hexapod并联机器人的运行精度,对机器人进行了标定实验及精度分析.推导了Hexapod机器人结构参数的误差模型、设计了标定步骤和算法,并在三坐标测量机上对机器人进行标定实验;从机构角度对Hexapod机器人的间隙误差来源进行了分析,并推导了间隙误差对机器人位姿误差的映射关系数学模型;推导并分析了计算过程中最小二乘误差、牛顿-拉普森迭代误差的数学模型,分析了机器人结构参数的辨识精度.标定实验结果表明:经过误差补偿,机器人位姿坐标的最大位移误差由0.267 6 mm降为0.010 5 mm;最大转角误差由0.006 8 rad降为0.001 1 rad.Hexapod机器人标定及精度分析方法对于开发精密型并联机器人具有参考价值.

有前馈的改进ADC方法在Hexapod平台振动控制中的应用

以高稳定精密跟瞄Hexapod平台振动控制为背景,对ADC(Adaptive Disturbance Canceller)方法进行了分析,发现将其应用于平台振动控制中可能存在的两个问题,提出了有前馈的改进ADC方法,从而使方法更好地应用于工程实际。分别将方法应用于复合作动杆单杆实验以及Hexapod平台Adams/Simulink联合仿真,结果一方面说明本文对方法的改进是必要的,一方面说明改进后的方法在实验和仿真中都是有效的,振动可以被抑制90%,相对PID方法结果的优越性是明显的,且可以应用于有较大角度指向功能的Hexapod平台振动控制。

基于Hexapod的精密跟瞄平台研究

针对精密光学设备的空间应用,设计了基于并联机构的空间高稳定精密跟瞄系统。利用所设计的宏/微双重驱动复合作动器和精密铰接元件,研制了精密跟瞄Hexapod平台原理样机,考虑到精密跟瞄系统的特点,开发了包括宏动控制系统、微动控制系统和检测系统在内的实验测试系统,并利用实验初步测试了Hexapod平台原理样机关键性能。由实验结果可知,平台原理样机的转动范围超过10°,最高开环转动速度大于5deg/s,经压电微动部分补偿后的平台静态定位误差小于5μrad,通过主动控制使扰动振幅衰减至噪声水平,可用于驱动有效载荷以较高的速度在较大范围内搜索目标并具有较好的静态定位精度和稳定性。

锥形束CT结合六维床HexaPOD验证及纠正放疗中摆位偏差的研究

目的探索用锥形束扫描CT(Cone Beam Computed Tomography,CBCT)验证放疗技师摆位偏差大小及六维床HexaPOD纠正摆位偏差的能力和稳定性,为临床提供数据参考。方法回顾性分析本院2018年6月至2019年6月经影像学和病理学证实的340例不同治疗部位的肿瘤患者,收集每位患者首次扫描CBCT后的摆位误差数据,验证不同部位摆位偏差的大小。另选取18例对摆位要求较高的特殊病例,收集每个病例首次摆位、首次六维床纠正偏差后及治疗分次间摆位偏差结果,分析CBCT和六维床HexaPOD纠正偏差的能力和治疗分次间验证的必要性。结果头颈部摆位偏差明显小于其他部位(P<0.05)。18例特殊病例,经首次摆位偏差纠正后,x、y、z平移方向和Rx、Rz旋转方向数值均减小(P<0.05)。分次间摆位偏差因人为摆位因素仍然存在且数值变大(P<0.05)。分次间纠正偏差后的残余偏差数值稳定,且无统计学差异(P>0.05),经纠正后的数值可达到亚毫米和亚度。结论CBCT和六维床HexaPOD联合验证、纠正摆位偏差,可使各方向摆位偏差减小;分次间建议合理安排CBCT扫描次数。

Hexapod平台构型与振动控制一体化设计研究

基于Hexapod平台雅可比矩阵条件数最优条件,将平台构型——振动控制一体化设计问题转化为从满足条件数最优条件的构型中选择振动控制能耗指标最小的优化问题。优化模型以自适应扰动消减(Adaptive disturbance canceller,ADC)振动控制步长参数、Hexapod下平台半径、铰点半夹角为设计变量,以控制收敛、工作空间、铰点间距为约束条件,在条件数最小的构型种群中,选择使六杆振动控制能量平均值和方差加权和最小的设计。由于优化模型及其敏度为设计变量的隐函数,选择响应面方法对模型近似后,通过不断求解近似问题得到原问题的最优解。算例结果给出平台振动控制器设计和构型设计的规律和要点,说明方法的有效性,经过一体化设计的Hexapod平台在控制和构型指标上均优于平台的原始设计。

Hexapod平台参数设计优化

针对工程应用中的Hexapod平台参数设计优化问题进行研究。Hexapod的上下平台半径被选作设计变量,同时分析了其运动约束条件,包括杆作动器的伸缩范围,铰链转角,作动杆间的干涉条件等,其中对杆间干涉约束进行了简化处理。此外,设计变量上下限、各平移或转动自由度上的行程要求等也被作为约束考虑。目标函数以工作空间、承载能力和运动逆解精度等量度的加权形式表示,由此建立了参数优化问题的模型,该问题用遗传方法求解。数值仿真表明,经参数优化后的Hexapod平台满足所有考虑的工程要求;对比等杆长的Cubic构形Hexapod,所设计的Hexapod平台在工作空间、承载能力方面具有明显优势,从而证明了该参数优化方法的有效性和实用性。

基于自适应谐波消除的Hexapod平台微振动激励控制

针对空间微振动环境模拟的需求,以Hexapod平台为对象,进行正弦振动激励控制的研究。当Hexapod平台工作在共振频段时,其输出的振动信号中因含有谐波成分而产生了显著的控制误差。为此,提出了一种自适应谐波消除算法。该算法以LMS滤波器为基础,将与谐波同频率的正弦信号和余弦信号作为滤波器的基底信号,将平台实际的输出响应作为滤波器的误差信号,以此实现谐波分量的自适应消除。将基于该算法的控制回路引入传统的控制器,进行了共振频段的单输入单输出和多输入多输出的微振动激励试验,结果表明,该算法可有效地消除谐波失真,大幅提高了Hexapod平台在共振频段的控制精度。

基于Brent算法的轴偏置虎克铰型Hexapod平台位置反解

针对Newton-Raphson算法求解轴偏置虎克铰型并联六自由度Hexapod平台位置反解时高精度计算会降低平台响应速度的问题,提出了一种新的基于Brent算法的位置反解求解方法。首先,根据平台几何特性和轴偏置虎克铰结构运动特性,建立了基于空间圆辅助模型的运动学模型;接着,提出了基于空间圆距离求解方法的位置反解算法,并针对丝杠螺母副产生的衍生运动,提出了补偿方案;然后,介绍了Brent求根算法,并将Brent算法应用于位置反解算法;最后,通过实验验证了衍生运动误差补偿方案的必要性,同时与采用Newton-Raphson算法的位置反解进行了对比,并测试了该算法控制下的Hexapod平台的响应速度和精度。实验结果表明:在保证平台重复精度低于10μm和5″的工作需求下,基于Brent算法的位置反解与Newton-Raphson算法相比,综合响应速度提高了约0.5 s。因此,基于Brent算法的位置反解求解方法相对改善了Hexapod平台的响应速度。

Gait Analysis of a Radial Symmetrical Hexapod Robot Based on Parallel Mechanisms

Most gait studies of multi-legged robots in past neglected the dexterity of robot body and the relationship between stride length and body height.This paper investigates the performance of a radial symmetrical hexapod robot based on the dexterity of parallel mechanism.Assuming the constraints between the supporting feet and the ground with hinges,the supporting legs and the hexapod body are taken as a parallel mechanism,and each swing leg is regarded as a serial manipulator.The hexapod robot can be considered as a series of hybrid serial-parallel mechanisms while walking on the ground.Locomotion performance can be got by analyzing these equivalent mechanisms.The kinematics of the whole robotic system is established,and the influence of foothold position on the workspace of robot body is analyzed.A new method to calculate the stride length of multi-legged robots is proposed by analyzing the relationship between the workspaces of two adjacent equivalent parallel mechanisms in one gait cycle.Referring to service region and service sphere,weight service sphere and weight service region are put forward to evaluate the dexterity of robot body.The dexterity of single point in workspace and the dexterity distribution in vertical and horizontal projection plane are demonstrated.Simulation shows when the foothold offset goes up to 174 mm,the dexterity of robot body achieves its maximum value 0.164 4 in mixed gait.The proposed methods based on parallel mechanisms can be used to calculate the stride length and the dexterity of multi-legged robot,and provide new approach to determine the stride length,body height,footholds in gait planning of multi-legged robot.

Wheel-legged Hexapod Robots:a Multifunctional Mobile Manipulating Platform

Robots are widely used to replace people in some burdensome or hamaful areas. Not only the moving ability but also the manipulating ability is needed in the missions of complex multitasking requirements. In the last decades, wheel-legged hexapod robots are extensively studied to ineet this condition.

空气弹簧支撑的Hexapod微激振平台自动调平研究

Hexapod微激振平台具有负载重量大和振动量级小的特点,为了实现精确卸载、作动器小量级精密控制,研制了基于空气弹簧支撑的Hexapod微激振平台。该平台包括负责工作状态承载的4点梯形分布的空气弹簧柔性支撑和负责非工作状态承载的3点刚性辅助支撑两部分。针对该平台自动调平控制的两大问题:即柔性支撑与刚性支撑之间存在的力耦合以及气路控制中存在的非线性和时延性,提出了连续充气和脉冲充气相结合的开关控制策略。为验证自动调平控制的可行性,在负载重量约为200 kg的Hexapod微激振平台上进行试验,结果表明,平台可在140 s内实现自动调平,且6个作动腿位移误差不超过1 mm。

Research on Biologically Inspired Hexapod Robot's Gait and Path Planning

Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. The software Solidworks and MSC. ADAMS are adopted to simulate and analyze the prototype model of the robot. By the simulations used in our design, the applicability of the tripod gait is validated, and the scheme which uses cubic spline curve as the endpoint of foot＇s path is feasible. The principles, methods, and processes of the simulation of hexapod robot are illustrated. A methodology is proposed to get the robot inverse solution in ADAMS, and to simplify the theoretical calculation, and further more to improve the efficiency of the design.

大行程柔性铰链Hexapod机构参数优化设计

大行程柔性铰链Hexapod机构的性能很大程度上取决于柔性铰链的性能。同样构型的柔性铰链,行程越大其离轴刚度越低,从而导致大行程全柔性铰链Hexapod机构整体的静刚度和精度下降。讨论了Hexapod机构运动学逆解的求解,包括每个支链的伸缩的长度以及每个铰链的转动角度的求解。在此基础上讨论了大行程全柔性铰链Hexapod机构参数优化设计,使得满足动平台运动空间要求的前提下各个铰链的行程要求最小,并针对设计中的大行程柔性铰链Hexapod机构进行了参数优化设计。

A gait planning method applied to hexapod biomimetic robot locomotion

In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously.

基于扰动补偿自适应的Hexapod微激励系统低频振动控制

为研究微振动对航天器上有效载荷的影响,以Hexapod平台为基础,设计多自由度微激励系统。常规的经典控制算法难以满足Hexapod多自由度微激励系统的精度要求;自适应控制算法虽然对处理此类问题具有天然的优势,但因被控对象相位延迟而引入的稳定条件限制了其在工程上的应用。文章结合线性自抗扰技术,提出了一种扰动补偿自适应控制算法,将被控对象相位滞后特性看作内扰,运用扩张状态观测器与外扰一同进行观测补偿,使系统输出信号与期望信号一致。将该算法应用于Hexapod多自由度微激励系统进行仿真和实验,验证了其可有效复现所需频带高精度正弦微振动信号,显示出实际工程应用价值。

Leg compliance control of a hexapod robot based on improved adaptive control in different environments

Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.

基于鲁棒H_∞控制策略的Hexapod平台低频微振动隔离设计

文章采用一种基于混合灵敏度的鲁棒H_∞控制策略来提高音圈电机驱动的柔性Hexapod平台隔振系统的低频特性;并利用一种基于非光滑优化算法的定结构解算方法快速求解得到低阶稳定的控制器,以解决传统解算方法中高阶复杂控制器难以实现的问题。通过仿真与试验进行频域和时域的验证分析,结果表明:所提出的振动隔离控制策略有效地降低了系统频响曲线的转折频率,提高了低频段的振动衰减率,使柔性Hexapod平台隔振系统的低频隔振效果显著提高。

Biomimetic Experimental Research on Hexapod Robot's Locomotion Planning

To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots＇ leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs＇ falling points. The last two give criterions of multi-legged robots＇ toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion.

The nonlinear control of simulator of hexapod parallel mechanism

In order to enhance the innervation fidelity of simulators,a nonlinear controller is developed,which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problems of rapid tracking under the condition of the wide range,nonlinear and variable load are solved. After the nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator,the dynamic-static capabilities of motion system are tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increases and the phase lag reduces with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative (i.e. PD) controlling method in joint space. Therefore the nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space.