基于状态受限网络同步性的六足机器人步态切换瞬态稳定控制研究

It is extremely essential to guarantee the transient stability of gait transition for hexapod robot in achieving all-terrain autonomous walking with varied gait pattern. This work concentrates on the transition duration of gait switching for hexapod robot. From the perspective of information transfer via nodes, we encompass the transition control with transient stability by establishing a coupled network with 2nd-order node model to mapping the gait specification onto the model parameters of node. The forbidden state concept is introduced to describe the constraint from kinematics, dynamics as well as walking stability. The underlying mechanism on how the forbidden node state affects the network synchronization is deeply investigated by virtue of perturbation theory, and limit-cycle analysis, providing an update law for the coupling scheme to guarantee the synchronous output amongst nodes. The control regime of the reduced network is extended to the high-dimensional joint space control of the hexapod robot in order to attain transient stability during gait transition. The scientific significance of this research lies in shedding light on the mathematical fundamental and inherent mechanism on multi-mode gait switching for legged system, presenting the solution to fulfil free gait transition with arbitrarily chosen timing and gait specification for multi-legged robot.

如何确保六足机器人步态切换的瞬态稳定性是实现其全地形、多样化灵活自主行走的关键。鉴于此，本课题聚焦于六足机器人步态切换的过渡阶段，拟以网络节点间的信息传递为视角，围绕着切换瞬态稳定控制展开研究，构建以二阶非线性振子为节点模型的耦合网络，完成由现实六足机器人的步态到抽象网络节点模型间的参数映射；引入状态受限的概念对来自机器人系统步态切换过程的运动学、动力学及行走稳定性等泛尺度约束进行归约化建模；应用摄动理论、极限环理论深入剖析节点状态约束对网络同步性影响的内在作用机制，进而获取确保节点间信息同步性输出的拓扑、连接耦合更新律；通过参数反演将低维抽象网络的控制律拓展至高维度六足机器人关节运动空间，解决机器人步态切换的瞬态稳定控制问题。本项目研究的科学意义在于揭示多足移动系统多步态模式间切换的数学本质和内在机制，为多足机器人全时间历程、全参数步态自由切换的实现提供普适性解决方案。

六足机器人以其独特的非连续落足支撑、灵活的冗余度腿足协调运动和出众的复杂地形适应能力，成为替代传统轮式及履带式移动装备在具有崎岖地貌、苛刻路况的极端环境下完成物资运输、地质勘探、灾后营救及军事侦查等任务的首选。深入探究其多模式仿生步态生成机理及步态间自由切换机制，是实现六足机器人全地形、多样化灵活自主行走的关键。本项目聚焦于六足机器人步态切换的过渡阶段，以网络节点间的信息传递为视角，围绕着切换瞬态稳定控制展开研究，构建以二阶非线性振子为节点模型的耦合网络，完成由现实六足机器人的步态到抽象网络节点模型间的参数映射；引入状态受限的概念对来自机器人系统步态切换过程的运动学、动力学及行走稳定性等泛尺度约束进行归约化建模；应用摄动理论、极限环理论深入剖析节点状态约束对网络同步性影响的内在作用机制，进而获取确保节点间信息同步性输出的拓扑、连接耦合更新律；通过参数反演将低维抽象网络的控制律拓展至高维度六足机器人关节运动空间，解决机器人步态切换的瞬态稳定控制问题。通过本项目的学术攻关，实现了六足机器人全时段、全参数步态自由切换的行走效果，全面提升多足机器人的行走性能，为拓展足式机器人复杂地形通行能力提供了有效的理论探索和技术支撑。

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