基于足地作用的重载六足机器人脚力分配与优化研究

Six-leg mobile equipment can be applied to military, post disaster relief, construction in mountain region, planetary exploration, etc., because of its advantages such as well stability, and strong adaptability of rough terrain. The domestic designed six-leg robots in recent decades are almost principle prototype with light load and small dimension, which can rarely be used to practical application. This project will conduct the following studies: ① Clarify the mechanical mechanism of leg-soil interaction by various leg-soil interaction mechanical experiments, which can lay a foundation for the high adhesion foot design; ② Propose the approach of bionic design for leg foot simulation of legged robot based on anatomy research results to design bionic leg foot mechanism with high carrying capacity and great adhesion force; ③ Establish recursive dynamics model of six-leg robot based on leg-soil interaction mechanical model to realize mobile control of six-leg robot; ④ Establish leg force distribution strategy and optimization method for six-leg robot under stable walking, foot slip and disturbance instability. To achieve the goal of practical application of six-leg mobile robot in rough terrain with the realization of leg-soil interaction mechanical effect and interaction mechanism, the design of bionic leg foot mechanism with high carrying capacity and great adhesion and the establishment of leg force distribution strategy and optimization method.

六足移动装备具有稳定性好、承载能力高、地形适应性强等优势，在军事、灾后救援、山地施工、星球探测等方面都有很强的应用需求。目前国内研制的六足机器人大都属于轻载、小尺度范畴的原理样机，很少能实际应用。本课题拟开展以下研究：①通过多种足地相互作用力学试验，阐明足地相互作用力学机理，为大附着力足底结构设计奠定基础②基于解剖学的研究成果，提出足式机器人腿足仿生设计方法，实现高承载、大附着特性仿生腿足机构设计③基于足地相互作用力学模型，建立六足机器人递归动力学模型，为六足机器人移动控制奠定基础④六足机器人稳态行走、足端打滑、扰动失稳等状态下的脚力分配策略和优化方法。揭示六足机器人足地接触的力学效应与作用机理、提出六足机器人高承载大附着腿足机构设计方法和重载六足机器人脚力分配策略与优化方法，为六足机器人在复杂环境中实际应用奠定基础。

六足移动机器人具有稳定性好、承载能力高、地形适应性强等优势，在军事、灾后救援、山地施工、星球探测等方面都有很强的应用需求。目前国内研制的六足机器人大都属于轻载、小尺度范畴的原理样机，很少能实际应用。本课题完成了以下研究内容：通过多种足地相互作用力学试验，阐明足地相互作用力学机理，为大附着力足底结构设计奠定基础；基于解剖学的研究成果，提出足式机器人腿足仿生设计方法，实现高承载、大附着特性仿生腿足机构设计；基于足地相互作用力学模型，建立了六足机器人递归动力学模型，为六足机器人移动控制奠定基础；六足机器人稳态行走、足端打滑、扰动失稳等状态下的脚力分配策略和优化方法。揭示六足机器人足地接触的力学效应与作用机理、提出六足机器人高承载大附着腿足机构设计方法和重载六足机器人脚力分配策略与优化方法，为六足机器人在复杂环境中实际应用奠定基础。

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