基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据

由8个推进器和6条刀锋腿混合驱动的水下机器人可在水底或水下结构物表面上行走.所提方法旨在研究这类机器人运动稳定性的评判准则,即稳定性判据.现有的稳定性判据多集中于同一机构(腿)驱动的陆地机器人,未涉及混合驱动的水下刀锋腿机器人.针对该问题,提出了基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据.首先,在建立混合驱动水下滚动倒立摆模型的基础上,利用机器人运动状态预测摆动腿和支撑腿切换瞬间机器人的动能;然后,根据推进器所能提供的推力范围,计算迫使机器人静止的捕获点变化范围,即获取捕获域;最后,根据捕获域与支撑域的空间关系,判断机器人是否稳定,并计算机器人的稳定裕度.水下实验结果表明,所提出的稳定...

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Published in自动化学报 Vol. 50; no. 8; pp. 1565 - 1576
Main Authors 陈乐鹏, 崔荣鑫, 严卫生, 马飞宇
Format Journal Article
LanguageChinese
Published 西北工业大学航海学院 西安 710072 01.08.2024
Subjects
underwater bladed legged robot
capture domain
混合驱动
稳定性判据
underwater rolling inverted pendu-lum
stability criterion
捕获域
Hybrid-driven
水下滚动倒立摆
水下刀锋腿机器人
Online AccessGet full text
ISSN0254-4156
DOI10.16383/j.aas.c220889

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Abstract 由8个推进器和6条刀锋腿混合驱动的水下机器人可在水底或水下结构物表面上行走.所提方法旨在研究这类机器人运动稳定性的评判准则,即稳定性判据.现有的稳定性判据多集中于同一机构(腿)驱动的陆地机器人,未涉及混合驱动的水下刀锋腿机器人.针对该问题,提出了基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据.首先,在建立混合驱动水下滚动倒立摆模型的基础上,利用机器人运动状态预测摆动腿和支撑腿切换瞬间机器人的动能;然后,根据推进器所能提供的推力范围,计算迫使机器人静止的捕获点变化范围,即获取捕获域;最后,根据捕获域与支撑域的空间关系,判断机器人是否稳定,并计算机器人的稳定裕度.水下实验结果表明,所提出的稳定性判据具有较好的充要性和普适性.
AbstractList 由8个推进器和6条刀锋腿混合驱动的水下机器人可在水底或水下结构物表面上行走.所提方法旨在研究这类机器人运动稳定性的评判准则,即稳定性判据.现有的稳定性判据多集中于同一机构(腿)驱动的陆地机器人,未涉及混合驱动的水下刀锋腿机器人.针对该问题,提出了基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据.首先,在建立混合驱动水下滚动倒立摆模型的基础上,利用机器人运动状态预测摆动腿和支撑腿切换瞬间机器人的动能;然后,根据推进器所能提供的推力范围,计算迫使机器人静止的捕获点变化范围,即获取捕获域;最后,根据捕获域与支撑域的空间关系,判断机器人是否稳定,并计算机器人的稳定裕度.水下实验结果表明,所提出的稳定性判据具有较好的充要性和普适性.
Abstract_FL The underwater bladed legged robot hybrid-driven by 8 thrusters and 6 blade legs can walk on seafloor and the surface of underwater structure.This paper aims at investigating the evaluation criteria of the motion sta-bility of this kind of robot,where the evaluation criteria is called as stability criterion.The existing stability cri-terions mainly focus on the robot that is driven by single mechanisms(legs),and not consider the hybrid-driven un-derwater bladed legged robot.Using capture point theory,we propose a stability criterion for hybrid-driven under-water bladed legged robot.Firstly,a hybrid-driven rolling inverted pendulum model that can reflect the dynamic characteristics of the robot is proposed,and the kinetic energy of the robot that the swinging legs are just touching the ground is predicted.Then,according to the maximum and minimum thrusts of the thrusters,we calculate the variation range of the expected capture point that can enforce the kinetic energy of the robot becoming zero,and the variation range is called as capture domain.Finally,the spatial relationship between the capture domain and the support domain can be employed to judge whether the robot is stable,and calculate the stability margin of the robot.Underwater experimental results show that the proposed stability criterion has better sufficiency and universality.
Author 崔荣鑫
陈乐鹏
马飞宇
严卫生
AuthorAffiliation 西北工业大学航海学院 西安 710072
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Author_FL CUI Rong-Xin
YAN Wei-Sheng
CHEN Le-Peng
MA Fei-Yu
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Keywords underwater bladed legged robot
capture domain
混合驱动
稳定性判据
underwater rolling inverted pendu-lum
stability criterion
捕获域
Hybrid-driven
水下滚动倒立摆
水下刀锋腿机器人
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Title 基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据
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