Design and Control of a Hexapod Robot RENS H3 for Lateral Walking on Unknown Rugged Terrains

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Chunchao Liu, Yaguang Zhu, Zhigang Han, Chenyang Duan
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引用次数: 0

Abstract

Legged robots provide an efficient alternative for navigation in complex terrains. However, few studies have explored dynamic locomotion for hexapod robots navigating unknown, rugged terrains. In this paper, the design, control, and implementation of a hexapod robot, RENS H3, inspired by the lateral movement of crabs, are presented with a focus on its adaptability in unknown, uneven terrains. The robot's structural design is introduced, and a hardware control framework for hexapod robots is developed. Additionally, a hierarchical control framework based on model predictive control is proposed, integrating terrain-adaptive control and foot-end Cartesian space force compensation based on posture adjustment into the control architecture to enhance the robot's robustness and terrain adaptability on slopes and unstructured terrains. The proposed method's robustness, adaptability, and energy efficiency were demonstrated through a series of experiments conducted on various outdoor slope terrains, unstructured terrains, and the multi-terrain testbed. Comparative experimental tests further validated the advantages of the approach in unknown rugged terrains.

Abstract Image

未知崎岖地形横向行走六足机器人RENS H3的设计与控制
有腿机器人为复杂地形的导航提供了一种有效的选择。然而,很少有研究探索六足机器人在未知崎岖地形中的动态运动。本文以螃蟹的横向运动为灵感,介绍了六足机器人RENS H3的设计、控制和实现,重点研究了其在未知、不平坦地形中的适应性。介绍了机器人的结构设计,开发了六足机器人的硬件控制框架。此外,提出了一种基于模型预测控制的分层控制框架,将地形自适应控制和基于姿态调整的足端笛卡尔空间力补偿集成到控制体系中,增强了机器人在斜坡和非结构化地形上的鲁棒性和地形适应性。通过在各种室外斜坡地形、非结构化地形和多地形试验台上进行的一系列实验,验证了该方法的鲁棒性、适应性和高能效。对比试验进一步验证了该方法在未知崎岖地形中的优越性。
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
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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