借助外力助推的双足机器人越障及避障方法研究
|
摘要
由于仿人机器人在跨越大尺度障碍时需要重心大幅度地偏移,从而导致机器人容易摔倒或是跨越的距离有限,而通过引入外力的方法能有效地改善机器人的跨越性能.本文主要研究双足机器人在额外外力的辅助下,无碰撞地跨越大尺度障碍物的问题.首先,通过树形数据结构、相对轴矢量和相对位置矢量,建立了双足机器人的仿真模型.然后,通过规划多次曲线跨越轨迹、引入整个跨越过程中的局部避障非线性约束和其他跨越约束的方法,建立起双足机器人越障及避障的多变量非线性优化模型.最终,求解出了平面6自由度的冗余机器人越障及避障的2维步态,通过仿真验证了其能够跨过高度为其腿长43%的障碍物.原理样机跨越15 cm高,为其腿长32%的障碍物,证明了本文所提越障及避障方法的有效性.
A study is conducted on bipedal robot stepping over large-size obstacles without collision with the assistance of extra external forces. Because the humanoid robot needs to shift greatly its center of gravity when crossing large-size obstacles, it is prone to fall or the crossed distance is limited. The method of adding external forces can effectively improve the robot's crossing performance. Firstly, a simulation model of biped robot is established by tree-shape data structure as well as relative axis vector and relative position vector. Then, by planning multiple order curves of stepping trajectory, introducing local obstacle avoidance of nonlinear constraints in the whole process along with the other nonlinear constraints, a changeable variable nonlinear optimal model is established for the bipedal robot to surmount and avoid obstacles. In the end, the 2 D gait of obstacle crossing and avoidance of the plane 6 freedom redundant robot is designed. It is verified by the simulation to cross the obstacle with a height up to 43% of its legs. Finally, the prototype steps over a 15 cm-high obstacle, which reaches 32% of its leg length, and the effectiveness of the method is verified.
A study is conducted on bipedal robot stepping over large-size obstacles without collision with the assistance of extra external forces. Because the humanoid robot needs to shift greatly its center of gravity when crossing large-size obstacles, it is prone to fall or the crossed distance is limited. The method of adding external forces can effectively improve the robot's crossing performance. Firstly, a simulation model of biped robot is established by tree-shape data structure as well as relative axis vector and relative position vector. Then, by planning multiple order curves of stepping trajectory, introducing local obstacle avoidance of nonlinear constraints in the whole process along with the other nonlinear constraints, a changeable variable nonlinear optimal model is established for the bipedal robot to surmount and avoid obstacles. In the end, the 2 D gait of obstacle crossing and avoidance of the plane 6 freedom redundant robot is designed. It is verified by the simulation to cross the obstacle with a height up to 43% of its legs. Finally, the prototype steps over a 15 cm-high obstacle, which reaches 32% of its leg length, and the effectiveness of the method is verified.
引文
[1]梶田秀司.仿人机器人[M].北京:清华大学出版社,2007.
[2]程刚,竺长安,沈连婠,等.基于b样条曲线的两足机器人仿生越障步行模式实现方法[J].图学学报,2006,27(4):1-7.CHENG G,ZHU C A,SHEN L W,et al.A method of planning bionic over-obstacle walking mode for biped robot based on b-spline curves[J].Journal of Engineering Graphics,2006,27(4):1-7.
[3]苏磊,侯宇,吴飞,等.轮足式机器人机构设计及越障性能分析[J].机械设计与制造,2016,1(8):46-48+53.SU L,HOU Y,WU F,et al.Design and analysis of wheel foot type robot mechanism and the obstacle-surmounting performance[J].Machinery Design&Manufacture,2016,1(8):46-48+53.
[4]叶献伟,陈樊,高建华.六足仿生机器人越障步态方法研究[J].浙江理工大学学报,2008,25(5):611-614.YE X W,CHEN F,GAO J H.Obstacle-crossing gait research on hexapod robot[J].Journal of Zhejiang Sci-Tech University,2008,25(5):611-614.
[5]KALAMIAN N,FARROKHI M.Dynamic walking of biped robots with obstacles using predictive controller[C]//20111st International Econference on Computer and Knowledge Engineering(ICCKE).Iran,Mashhad:IEEE,2011:105-110.
[6]ZHOU C X,WANG X,LI Z B,et al.Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle[C]//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Germany,Hamburg:IEEE,2015:1599-1604.
[7]FU C L,CHEN K.Gait synthesis and sensory control of stair climbing for a humanoid robot[J].IEEE Transactions on Industrial Electronics,2008,55(5):2111-2120.
[8]KOCH K H,MOMBAUR K,STASSE O,et al.Optimization based exploitation of the ankle elasticity of hrp-2 for overstepping large obstacles[C]//201414th IEEE-RAS International Conference on Humanoid Robots(Humanoids).Spain,Madrid:IEEE,2014:733-740.
[9]GUAN Y H,NEO E S,YOKOI K,et al.Stepping over obstacles with humanoid robots[J].IEEE Transactions on Robotics,2006,22(5):958-973.
[10]GUAN Y S,SIAN N E,YOKOI K.Motion planning for humanoid robots stepping over obstacles[C]//2005 IEEE/RSJInternational Conference on Intelligent Robots and Systems(IROS).Canada,Edmonton:IEEE,2005:364-370.
[11]GUAN Y S,YOKOI K,TANIE K.Feasibility:Can humanoid robots overcome given obstacles?[C]//2005 IEEEInternational Conference on Robotics and Automation(ICRA).Spain,Barcelona:IEEE,2005:1054-1059.
[12]STASSE O,VERRELST B,VANDERBORGHT B,et al.Strategies for humanoid robots to dynamically walk over large obstacles[J].IEEE Transactions on Robotics,2009,25(4):960-967.
[13]于薇薇,SABOURIN C,MADANI K,等.基于adams和matlab联合仿真的双足机器人越障研究[J].计算机测量与控制,2008,16(11):1741-1743+1769.YU W W,SABOURIN C,MADANI K,et al.Approach of biped robot to step over obstacle based on adams and matlab united simulation[J].Computer Measurement&Control,2008,16(11):1741-1743+1769.
[14]GUO F Y,MEI T,LUO M Z,et al.Motion planning for humanoid robot dynamically stepping over consecutive large obstacles[J].Industrial Robot-an International Journal,2016,43(2):204-220.
[15]DOUBLIEZ P F,BRUNEAU O,BEN OUEZDOU F.Dynamic obstacle crossing by a biped robot,based on control of the propulsion energy[C]//IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems(IROS 2010).Taipei:IEEE,2010:3144-3149.
[16]KOJIO Y,KARASAWA T,KOJIMA K,et al.Walking control in water considering reaction forces from water for humanoid robots with a waterproof suit[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2016).South Korea,Daejeon:IEEE,2016:658-665.
[17]FARNIOLI E,GABICCINI M,BICCHI A.Toward wholebody loco-manipulation:Experimental results on multi-contact interaction with the walk-man robot[C]//2016 IEEE/RSJInternational Conference on Intelligent Robots and Systems(IROS 2016).South Korea,Daejeon:IEEE,2016:1372-1379.
[18]HUANG Z F,LIU B,WEI J P,et al.Jet-hr1:Two-dimensional bipedal robot step over large obstacle based on a ducted-fan propulsion system[C]//2017 IEEE-RAS 17th International Conference on Humanoid Robotics(Humanoids).UK,Birmingham:IEEE,2017:406-411.
[19]杜玉红,李兴,赵地,等.仿人机器人越障步态控制研究[J].中国工程机械学报,2017,15(1):10-14.DU Y H,LI X,ZHAO D,et al.Gait control on humanoid obstacle-crossing robots[J].Chinese Journal of Construction Machinery,2017,15(1):10-14.
[2]程刚,竺长安,沈连婠,等.基于b样条曲线的两足机器人仿生越障步行模式实现方法[J].图学学报,2006,27(4):1-7.CHENG G,ZHU C A,SHEN L W,et al.A method of planning bionic over-obstacle walking mode for biped robot based on b-spline curves[J].Journal of Engineering Graphics,2006,27(4):1-7.
[3]苏磊,侯宇,吴飞,等.轮足式机器人机构设计及越障性能分析[J].机械设计与制造,2016,1(8):46-48+53.SU L,HOU Y,WU F,et al.Design and analysis of wheel foot type robot mechanism and the obstacle-surmounting performance[J].Machinery Design&Manufacture,2016,1(8):46-48+53.
[4]叶献伟,陈樊,高建华.六足仿生机器人越障步态方法研究[J].浙江理工大学学报,2008,25(5):611-614.YE X W,CHEN F,GAO J H.Obstacle-crossing gait research on hexapod robot[J].Journal of Zhejiang Sci-Tech University,2008,25(5):611-614.
[5]KALAMIAN N,FARROKHI M.Dynamic walking of biped robots with obstacles using predictive controller[C]//20111st International Econference on Computer and Knowledge Engineering(ICCKE).Iran,Mashhad:IEEE,2011:105-110.
[6]ZHOU C X,WANG X,LI Z B,et al.Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle[C]//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).Germany,Hamburg:IEEE,2015:1599-1604.
[7]FU C L,CHEN K.Gait synthesis and sensory control of stair climbing for a humanoid robot[J].IEEE Transactions on Industrial Electronics,2008,55(5):2111-2120.
[8]KOCH K H,MOMBAUR K,STASSE O,et al.Optimization based exploitation of the ankle elasticity of hrp-2 for overstepping large obstacles[C]//201414th IEEE-RAS International Conference on Humanoid Robots(Humanoids).Spain,Madrid:IEEE,2014:733-740.
[9]GUAN Y H,NEO E S,YOKOI K,et al.Stepping over obstacles with humanoid robots[J].IEEE Transactions on Robotics,2006,22(5):958-973.
[10]GUAN Y S,SIAN N E,YOKOI K.Motion planning for humanoid robots stepping over obstacles[C]//2005 IEEE/RSJInternational Conference on Intelligent Robots and Systems(IROS).Canada,Edmonton:IEEE,2005:364-370.
[11]GUAN Y S,YOKOI K,TANIE K.Feasibility:Can humanoid robots overcome given obstacles?[C]//2005 IEEEInternational Conference on Robotics and Automation(ICRA).Spain,Barcelona:IEEE,2005:1054-1059.
[12]STASSE O,VERRELST B,VANDERBORGHT B,et al.Strategies for humanoid robots to dynamically walk over large obstacles[J].IEEE Transactions on Robotics,2009,25(4):960-967.
[13]于薇薇,SABOURIN C,MADANI K,等.基于adams和matlab联合仿真的双足机器人越障研究[J].计算机测量与控制,2008,16(11):1741-1743+1769.YU W W,SABOURIN C,MADANI K,et al.Approach of biped robot to step over obstacle based on adams and matlab united simulation[J].Computer Measurement&Control,2008,16(11):1741-1743+1769.
[14]GUO F Y,MEI T,LUO M Z,et al.Motion planning for humanoid robot dynamically stepping over consecutive large obstacles[J].Industrial Robot-an International Journal,2016,43(2):204-220.
[15]DOUBLIEZ P F,BRUNEAU O,BEN OUEZDOU F.Dynamic obstacle crossing by a biped robot,based on control of the propulsion energy[C]//IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems(IROS 2010).Taipei:IEEE,2010:3144-3149.
[16]KOJIO Y,KARASAWA T,KOJIMA K,et al.Walking control in water considering reaction forces from water for humanoid robots with a waterproof suit[C]//2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2016).South Korea,Daejeon:IEEE,2016:658-665.
[17]FARNIOLI E,GABICCINI M,BICCHI A.Toward wholebody loco-manipulation:Experimental results on multi-contact interaction with the walk-man robot[C]//2016 IEEE/RSJInternational Conference on Intelligent Robots and Systems(IROS 2016).South Korea,Daejeon:IEEE,2016:1372-1379.
[18]HUANG Z F,LIU B,WEI J P,et al.Jet-hr1:Two-dimensional bipedal robot step over large obstacle based on a ducted-fan propulsion system[C]//2017 IEEE-RAS 17th International Conference on Humanoid Robotics(Humanoids).UK,Birmingham:IEEE,2017:406-411.
[19]杜玉红,李兴,赵地,等.仿人机器人越障步态控制研究[J].中国工程机械学报,2017,15(1):10-14.DU Y H,LI X,ZHAO D,et al.Gait control on humanoid obstacle-crossing robots[J].Chinese Journal of Construction Machinery,2017,15(1):10-14.