Slip-Regulated Optimal Control for Hybrid-Driven Underwater Hexapod Robot With Thrusters and C-Shaped Legs

IF 4.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-03 DOI:10.1109/TCST.2024.3377949

Lepeng Chen;Rongxin Cui;Weisheng Yan;Feiyu Ma;Hui Xu;Haitao Yu;Haoquan Li

{"title":"Slip-Regulated Optimal Control for Hybrid-Driven Underwater Hexapod Robot With Thrusters and C-Shaped Legs","authors":"Lepeng Chen;Rongxin Cui;Weisheng Yan;Feiyu Ma;Hui Xu;Haitao Yu;Haoquan Li","doi":"10.1109/TCST.2024.3377949","DOIUrl":null,"url":null,"abstract":"The safety of ship hulls, reservoir dams, and bridge piers must be ensured through routine fracture detection and damage repair. An underwater robot with eight thrusters and six C-shaped legs has been built to be able to walk on these intricate underwater structures. In this article, a slip-regulated optimal walking control strategy is proposed while taking into account vehicle dynamics. The controller also produces the necessary longitudinal force and yaw moment, so that the robot follows the desired forward velocity and heading direction. It then equivalently transfers the needed force and moment to the contact points of all supporting legs. The suggested controller also includes appropriate constraints and a cost function to regulate the slippage of supporting legs. In addition to preventing longitudinal slippage and enabling lateral slippage, the proposed control framework enhances walking stability and steering ability. Finally, the effectiveness of the proposed method is verified through the Gazebo platform and the hexapod robot.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1891-1903"},"PeriodicalIF":4.9000,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Control Systems Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10490244/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

The safety of ship hulls, reservoir dams, and bridge piers must be ensured through routine fracture detection and damage repair. An underwater robot with eight thrusters and six C-shaped legs has been built to be able to walk on these intricate underwater structures. In this article, a slip-regulated optimal walking control strategy is proposed while taking into account vehicle dynamics. The controller also produces the necessary longitudinal force and yaw moment, so that the robot follows the desired forward velocity and heading direction. It then equivalently transfers the needed force and moment to the contact points of all supporting legs. The suggested controller also includes appropriate constraints and a cost function to regulate the slippage of supporting legs. In addition to preventing longitudinal slippage and enabling lateral slippage, the proposed control framework enhances walking stability and steering ability. Finally, the effectiveness of the proposed method is verified through the Gazebo platform and the hexapod robot.

查看原文本刊更多论文

带推进器和 C 型腿的混合驱动水下六足机器人的滑动调节优化控制

船体、水库大坝和桥梁桥墩的安全必须通过日常的断裂检测和损坏修复来确保。为了能够在这些错综复杂的水下结构上行走，我们制造了一个拥有八个推进器和六条 C 形腿的水下机器人。本文提出了一种滑移调节的最佳行走控制策略，同时考虑到了车辆动力学。该控制器还能产生必要的纵向力和偏航力矩，使机器人遵循所需的前进速度和航向。然后，它将所需的力和力矩等效地传递到所有支撑腿的接触点。建议的控制器还包括适当的约束条件和成本函数，用于调节支撑腿的滑动。除了防止纵向滑动和实现横向滑动外，建议的控制框架还增强了行走的稳定性和转向能力。最后，通过 Gazebo 平台和六足机器人验证了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Transactions on Control Systems Technology 工程技术-工程：电子与电气

CiteScore

10.70

自引率

2.10%

发文量

218

审稿时长

6.7 months

期刊介绍： The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.