长臂式仿生软体机器人及其主动刚度自适应控制研究

At present, flexibility of the soft robot is highly emphasized while the controllable operating stiffness and active adaptability are rarely been considered. Aiming at these problems, a new type of arm-like bionic soft robot is proposed, whose stiffness can vary independently. Through analyzing the biomechanical characteristics of the octopus tentacle, we are willing to explore its stiffness variable principle and the dynamic model. Then the multi-chamber driving variable stiffness of the arm-like bionic soft robot will be investigated and represented by mathematical model. This project will put emphasis on the stiffness identification and modeling of the octopus tentacle during grasping an object, innovative design and optimization of the full body active changeable stiffness soft robot, the stiffness matrix modeling of the multi-chamber actuated soft robot. Finally, the model reference adaptive control method will be constructed based on the dynamic characteristics of the octopus tentacle stiffness, which will contribute to the dynamic control of the independent variable stiffness of the arm-like bionic robot during its grasping and motion. This research is hopeful to solve the problem that current arm-like bionic robot has sufficient flexibility while few operating stiffness and low controllability. It is expected that the basically theoretical method will be formed for the arm-like soft robot bionic stiffness modeling and its self-adaptive control research, which will lay the theoretical method and technical fundament for the engineering application of the arm-like soft robot.

针对目前软体机器人研究中过多强调柔性而少有考虑可控的操作刚度及主动适应性的问题，提出自身刚度独立可变的长臂式仿生软体机器人结构，通过剖析章鱼腕足的生物力学特性，探究其变刚度原理及动态模型，研究长臂式仿生软体机器人多腔驱动可变刚度特性及其数学描述方法。着力解决章鱼腕足抓持目标物体过程中的刚度辨识与建模、全身主动可变刚度软体机器人结构创新设计与优化、仿生软体机器人多腔冗余驱动的刚度矩阵建模等关键问题，构建基于章鱼腕足可变刚度动态特性的模型参考自适应控制方法，以实现长臂式仿生软体机器人在抓持及运动过程中的刚度独立可变动态调控。有望解决目前长臂式软体机器人柔性有余而操作刚度不足且难以动态调控的问题，预期形成软体机器人仿生刚度建模及自身可变刚度自适应控制研究的基本理论方法，为长臂式软体机器人工程化应用研究建立理论方法及技术基础。

近年来，软体机器人成为机器人领域的一个新兴且极具前景的研究方向。软体机器人一般具有充分的柔顺性、适应性、超冗余或无限自由度，甚至可以任意改变自身形状和尺寸以适应环境和目标。而目前研制的软体机器人还不能实现运动过程或抓持过程中的自身刚度可变及其动态控制、难以实施安全稳定的目标操控。本项目针对目前软体机器人研究中过多强调柔性而极少考虑可控的操作刚度及主动适应性的问题，提出设计了自身刚度独立可变的长臂式仿生软体机器人，借鉴章鱼腕足的生物力学特性，研究了长臂式仿生软体机器人多腔驱动可变刚度特性及其数学描述方法。研究了长臂式仿生软体机器人的多腔冗余驱动的运动学模型、动力学模型和力输出模型等关键问题，研究了长臂式仿生软体机器人的抓持刚度建模。搭建了实验平台，对长臂式仿生软体机器人的基本模型和刚度调控进行了实验研究。项目实现了长臂式软体机器人的基本模型、控制和变刚度抓持目标，发表了9篇论文（其中SCI收录3篇）、申报了发明专利10项（其中授权3项）、培养了博士研究生1名和硕士研究生4名。本项目的研究促进了软体机器人柔性有余而操作刚度不足且难以动态调控的研究，形成软体机器人仿生刚度建模及自身可变刚度自适应控制研究的基本方法，为长臂式软体机器人工程化应用研究建立理论方法及技术基础。