山地环境重载六足机器人运动控制分析

Motion Control Analysis of Heavy-Duty Hexapod Robot in Mountainous Environment

摘要: 为了实现山地环境下重载六足机器人的稳定运动，提出了一种基于A-Star算法的图表搜索步态生成方法。选定六足机器人23种稳定支撑状态，建立支撑状态转换表，依据图表搜索法生成每条足腿从初始状态到目标状态可能的运动状态序列；再结合A-Star算法选定一条从根节点到目标节点的最优路径，以此作为足腿的最终运动状态序列；最后对足端轨迹进行多项式拟合，通过设定轨迹高度和宽度实现跨越不同障碍的能力。结果表明，本文提出算法运行在六足机器人模型上时，测得移动距离平均误差为7.2%，单腿足端运动轨迹的ADAMS仿真曲线过度平滑，能有效减少惯性抖振现象。该研究为山地环境下重载六足机器人的运动控制方法提供了参考。

Abstract: In order to realize the stable motion of heavy-duty hexapod robot in mountainous environment, a graph search method based on A-Star algorithm is proposed. Thirty-three kinds of stable support states of hexapod robot are selected, the transition table of support states is established, and the possible motion state sequence of each leg from initial state to target state is generated by graph search method. Then, an optimal path from root node to target node is selected by A-Star algorithm, which is used as the final motion state sequence of the leg. Finally, the foot trajectory is polynomially fitted, and the ability to cross different obstacles is achieved by setting the height and width of the trajectory. The results show that the average error of the proposed algorithm is 7.2% when it runs on the hexapod robot model, and the ADAMS simulation trajectory curve of the single leg foot is smooth, which can effectively reduce the inertial vibration phenomenon. This study provides a reference for the motion control method of heavy-duty hexapod robot in mountainous environment.