高性能液压驱动四足仿生机器人基础理论与关键技术研究

This proposal aims on the in-depth study for high-performance hydraulic- actuated/biologically-inspired quadruped robot. Research areas include robot-ground interaction in complex unstructured environments, robot kinematics/dynamics modeling, biomimetic gait planning and robot dynamics control. Research works mainly focus on: legged robot-ground interaction mechanism in complex unstructured environments, including impact, bounce, friction, sliding, subsidence and its characterization, classification and identification; kinematics modeling based on geometric algebra and generic dynamics modeling for quadruped robot under different constraints; quantitative dynamic stability evaluation on dynamic stability criterion and stability margin; biomimetic gait configuration transition and its multi-constraints/ multi-objective optimization method; adaptive robust quadruped robot control method as well as in-time quadruped robot dynamic control strategy for disturbance rejection; Through the research we will establish the fundamental theory of high-performance quadruped biomimetic robot system. We will also verify the feasibility and effectiveness of relevant theory and technology via simulation platform and hydraulic actuated quadruped robot prototype, which will facilitate and support the development of multi-legged robot in both essential theory and key technique.

本项目针对高性能液压驱动四足仿生机器人在复杂非结构环境中的机器人-地面交互作用、运动学/动力学建模方法、仿生步态规划与动力学控制等内容，展开系统深入的研究工作。重点研究：复杂非结构环境中的足式机器人-地面之间的冲击、弹跳、摩擦、滑动、沉陷等交互作用机理及其刻画、表征和分类识别方法；基于几何代数的运动学建模和不同约束条件下四足机器人的统一动力学建模方法；包含动态稳定判据及其稳定裕度的定量动态稳定性评价方法；仿生步态之间的变换及其多约束-多目标优化方法；四足机器人自适应稳定控制方法以及强扰动时的应急动力学控制策略等。初步建立起高性能四足仿生机器人的基础理论体系，并通过仿真平台和液压驱动四足机器人实验系统，验证相关理论和技术的可行性和有效性，为多足机器人的发展提供重要的基础理论和关键技术支撑。

开发具有强环境适应性和自主、稳定运动能力的腿足式机器人是机器人领域重要的发展方向，本课题结合研发的液压驱动四足机器人，针对该领域的基础理论和应用科学问题，重点研究了四足机器人足-地交互和建模、强环境适应性步态规划、稳定性运动控制算法和具有外扰的机器人复杂地形运动控制和环境感知方法。通过高功率密度液压驱动单元、感知单元、仿生步态规划与动态控制单元、动力单元的高度集成，完成具有高动态性、高适应性、高负载能力的高性能四足仿生机器人研制，促进了核心部件的国产化。基于所研究的相关理论和方法成果，利用开发的高性能四足机器人，验证了理论和方法的创新性、先进性和实用价值。总计发表论文104篇，其中期刊论文82篇，会议论文22篇，授权发明专利16项，软件著作权2项，本课题研究目标的实现，对我国四足仿生机器人的基本理论和关键技术无疑是一大提升，对于推动机器人研究开发工作的发展具有战略意义。