| 陈刚1， 沈家涛1， 柳世袭2， 俞志成3， 李月华4， 曹光客5， 曾锦锋6.基于气压力传感的多足机器人步态协调控制策略[J].轻工机械,2025,43(3):39-46 |
| 基于气压力传感的多足机器人步态协调控制策略 |
| Gait Coordination Control Strategy for Multi Legged Robot Based on Pneumatic Pressure Sensing |
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| DOI：10.3969/j.issn.1005 2895.2025.03.006 |
| 中文关键词: 多足机器人 压力传感 步态控制 非平坦地形 触地 摆动腿 |
| 英文关键词:multi legged robot pressure sensing gait control non flat terrain ground contact swing leg |
| 基金项目:浙江省应急管理研发攻关科技项目（2024YJ026）；浙江理工大学基本科研业务费专项资金资助（24242088 Y）；国防科工局稳定支持科研项目（HTKJ2023KL502019）。 |
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| 中文摘要: |
| 为了提高多足机器人在非平坦地形下的运动稳定性和环境适应能力，课题组提出了一种基于气压力传感的步态协调控制策略。分析多足机器人的整体结构，并进行运动学分析，设计了气压力传感结构，通过感知足端触地时底部气囊内气压的变化，实现了对多足机器人腿部触地状态的实时检测；在步态控制策略方面，提出了摆动相和支撑相独立控制并进行步态协调控制，可以通过气压力传感器反馈的信息自主调整摆动腿运动轨迹，通过多线程并行处理机制实现摆动阶段和支撑阶段的协调执行。实验结果表明：采用该步态协调控制策略的多足机器人在沙石混合地形上运动更加稳定，相比于使用步态协调控制策略前，横滚角变化方差减小了28.35%，俯仰角变化方差减小了35.71%，运动稳定性和环境适应能力得到了明显提高。 |
| 英文摘要: |
| In order to improve the motion stability and environmental adaptability of multi legged robots in non flat terrain, the research group proposed a gait coordination control strategy based on pneumatic pressure sensing. The overall structure of the multi legged robot was analyzed, and kinematic analysis was carried out. The pneumatic pressure sensing structure was designed. By sensing the changes in air pressure inside the bottom airbag when the foot touches the ground, real time detection of the leg contact status of the multi legged robot was achieved. In the aspect of control strategy, independent control of swing phase and support phase was proposed, and gait coordination control was carried out. The swing leg motion trajectory was autonomously adjusted based on feedback information from pneumatic pressure sensors, and the coordinated execution of swing phase and support phase was achieved by a multi threaded parallel processing mechanism. The experimental results show that the multi legged robot using this gait coordination control strategy moves more stably in mixed terrain of sand and gravel. Compared with before using gait coordination control strategy, the variance of roll angle change is reduced by 28.35%, and the variance of pitch angle change is reduced by 35.71%. The motion stability and environmental adaptability have been significantly improved. |
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