Terrain-Adaptive Locomotion Control for an Underwater Hexapod Robot: Sensing Leg–Terrain Interaction With Proprioceptive Sensors

IF 5.4 3区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Lepeng Chen, Rongxin Cui, Weisheng Yan, Hui Xu, Shouxu Zhang, Haitao Yu
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Abstract

An underwater hexapod robot, driven by six C-shaped legs and eight thrusters, has the potential to traverse diverse terrains with unknown deformable properties, which can lead to unknown leg–terrain interaction forces. However, it is hard to use exteroceptive sensors such as cameras and sonars to recognize these properties. Here we propose a method to perceive the interaction forces and feed them into a controller for determining thrust inputs. The key idea lies in using supervised learning to obtain the properties from reliable proprioceptive sensory data. First, we propose a new expression called zero moment point (ZMP) bias that can indirectly represent the leg–terrain interaction force, removing the effects caused by gravity, buoyancy, and thrust. Second, we gather a walking cycle’s discrete ZMP biases and then parameterize them as polynomials. Third, we use several previous walking cycles’ parameterized biases to predict the current walking cycle’s biases to generate the needed pitch and roll moments. Finally, we propose a terrain-adaptive locomotion controller for the robot, which incorporates these moments into a base control module and uses thrust to compensate for the interaction force for smooth walking. Extensive indoor pool and wild lake hardware experiments confirm our method’s effectiveness.
水下六足机器人的地形适应运动控制:用感觉传感器感知腿部与地形的相互作用
由六条 C 形腿和八个推进器驱动的水下六足机器人有可能穿越具有未知变形特性的各种地形,这可能导致未知的腿-地形相互作用力。然而,很难使用外部感知传感器(如摄像头和声纳)来识别这些属性。在这里,我们提出了一种感知相互作用力并将其输入控制器以确定推力输入的方法。其关键在于利用监督学习从可靠的本体感觉数据中获取属性。首先,我们提出了一种名为零力矩点(ZMP)偏差的新表达式,它可以间接表示腿部与地形的相互作用力,并消除重力、浮力和推力造成的影响。其次,我们收集一个行走周期的离散 ZMP 偏置,然后将其参数化为多项式。第三,我们利用之前几个行走周期的参数化偏置来预测当前行走周期的偏置,从而产生所需的俯仰力矩和滚动力矩。最后,我们为机器人提出了一种地形适应性运动控制器,它将这些力矩纳入基本控制模块,并利用推力补偿相互作用力,从而实现平稳行走。大量的室内泳池和野外湖泊硬件实验证实了我们方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
IEEE Robotics & Automation Magazine
IEEE Robotics & Automation Magazine 工程技术-机器人学
CiteScore
8.80
自引率
1.80%
发文量
100
审稿时长
>12 weeks
期刊介绍: IEEE Robotics & Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive. The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications. IEEE Transactions on Robotics and IEEE Transactions on Automation Science and Engineering publish advances in theory and experiment that underpin the science of robotics and automation. The Magazine complements these publications and seeks to present new scientific results to the practicing engineer through a focus on working systems and emphasizing creative solutions to real-world problems and highlighting implementation details. The Magazine publishes regular technical articles that undergo a peer review process overseen by the Magazine''s associate editors; special issues on important and emerging topics in which all articles are fully reviewed but managed by guest editors; tutorial articles written by leading experts in their field; and regular columns on topics including education, industry news, IEEE RAS news, technical and regional activity and a calendar of events.
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