CN109696824A - A kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing - Google Patents
A kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing Download PDFInfo
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Abstract
A kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing.A kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing, it is characterized in that: the hexapod robot body is by leg carriage 1, body 2, base pitch 3 and leg module 4, the two sides of the body are provided with the leg carriage, the side of the leg carriage and base pitch connects, the other side of the base pitch is connect with the leg module, the leg module is by thigh structure 4-1, shank structure 4-2 and foot body 4-3 is formed, the thigh structure is connect with one end of the shank structure, the other end of the shank structure is connect with the sufficient end, the hexapod robot are with the moveable hexapod robot in leg.The method includes the following steps: the control of the hexapod robot of removable leg；Adjust the axial stability of gait；Fixed position adjustment；Non-fixed position adjustment；The configuration of fault-tolerant gait.The present invention is applied to the fault-tolerant gait control method of hexapod robot leg missing.
Description
Technical field
The invention belongs to legged type robot Fault Tolerance Control Technology fields, and in particular to a kind of removable hexapod robot in leg
The fault-tolerant gait control method background technique of leg missing.
Now, legged type robot has become main tool in planetary detection, disaster emergency, anti-terrorism task dispatching field.Have
The legged type robot of effective gait planning plays a significant role in this generic task.But if one leg is impaired, task will
Therefore it interrupts.So robot needs some alternative strategies to continue to complete task.
Currently, in the environment of people can not touch, robot is permitted from space probation, disaster emergency to the removal of mines
It applies more.Ambient enviroment is severe, and hazard region is serious, high failure rate.Therefore robot is needed to come instead of people in this case
Complete these tasks.Legged type robot is with a wide range of applications, and can complete many wheeled robots impossible
Business.Herein, we discuss common hexapod robot, although legged type robot is walked to be influenced by the number of leg,
But the influence of the number of leg and the number of leg to robot is similar.Strategy about robot leg failure.For example, one
The impaired hexapod robot leg fault condition of leg.Leg and chassis are reset, and to meet the requirement of service factor, and propose every
The big working space of leg.In other words, robot should have leg is long to interfere with each other with space.However, this rearrangement also changes
The body of Bian Liao robot configures.In addition, long leg can not have big working space for certain situations.The sufficient machine of six recommended
Device people " fault-tolerant " gait method, each step only have two legs and lift.Even if a failure leg is stood, since the center of gravity of robot begins
It is located on the cornerwise intersection point of supporting surface eventually, stability also remains unchanged, it is possible to use five leg gaits.Locking damage
Motor joint be also beneficial to keep stability.Therefore, the joint leg of locking can be used for support rather than movement, and machine
The gait sequence of people must be rearranged correspondingly, but locking mechanism can not provide support always.When leg second or
When third joint is broken down, leg may no longer keep stable.
When one or two legs of robot shut down, it still can keep steady by switch to another gait
It is qualitative.But when three or four legs fail, stability is decreased obviously, or even marginal stability has occurred.Therefore NASA suggestion is climbed
Gait is gone and glided to solve this problem.But above-mentioned all methods are all somewhat limited.From the discussion above
It can be said that the leg of legged type robot has several failures.One is " locking connection " scheme, it assumes that the design method of connection be
It can be locked when failure by detecting.Then, the joint leg of locking can be used to support body rather than movement.Second is "
Freely swinging, " scheme makees impaired leg it is assumed that the motor of failure or joint, which lose the most of of it, resists external load
The suspention limbs rotated freely for one.Primary study of the present invention " broken leg " scheme and " tracing leg " method, to keep robot
Efficiency and stability.Because injured leg can generate some unnecessary secondary works to other legs and robot total system
With.
Summary of the invention
The object of the present invention is to provide a kind of legs to move the fault-tolerant gait control method that hexapod robot leg lacks,
Method is moved to solve the problems, such as this by a kind of leg, and wherein failure leg can separate, other legs can pass through operation
The order of member is moved to more preferably position, to obtain optimal substitution gait configuration, according to leg sequence, stride, longitudinal stability
Property and efficiency, to substitution gait evaluated.
Above-mentioned purpose is realized by following technical scheme:
A kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing, and composition includes: six sufficient machines
Device people, the hexapod robot body is by leg carriage, body, base pitch and leg module, the two sides of the body
Be provided with the leg carriage, the side of the leg carriage and base pitch connects, the base pitch it is another
Side is connect with the leg module, and the leg module is made of thigh structure, shank structure and sufficient body, the thigh
Structure is connect with one end of the shank structure, and the other end of the shank structure is connect with the sufficient end,
The hexapod robot are the hexapod robot with removable sliding leg,
The fault-tolerant gait control method of hexapod robot leg missing, this method comprises the following steps:
(1) hexapod robot model leg movably uses:
First joint of every leg module is equipped with sliding equipment, and leg can move freely, or even pass through behaviour
The commander of author separates, now with 6-2-L3R3For type, as leg L3And R3When failure, they are cut off, leg L2It is mobile
To replacement L3Position, same R2It also is moved into replacement R3It is commanded by operator, this strategy is named as fixed position tune by us
Whole, in this way, we can be by inefficient low stability 6-2-L3R3Type is converted to one very satisfactorily
6-2-L2R2Type gait strategy；
The mechanism of cutting and sliding leg can remotely be controlled by operator:
Step 1: failure leg is removed；
Step 2: intermediate leg, which slides into, removes leg, when the position of leg start mobile and remaining leg cannot provide it is stable
Support, then we must use special transfer method that robot is made to reach stable state, in 6-2-L3R3The case where type
Under, leg L2And R2It is they mobile position, however, remaining leg can not provide can when these legs are just gone up and down on the ground
Supporting surface, in this case, the position for changing these legs must allow first L along with the appropriate exercise of body1And R1
A distance s is swung backward, next makes L2And R2Also it moves in unidirectional amount s, then swings L1And R1Return to original stand
, these steps are repeated, until L2And R2It is moved to required fixation position；
(2) axial stability of gait is adjusted:
Assuming that limit of stability SL is less than theoretical limit, it is usually not in edge stability when using continuous three gait,
Therefore, length [SL+, SL-] of the minimum axial direction limit of stability d minimum value between intervalminBetween；
(3) fixed position adjustment:
Fixed position adjustable strategies can be used for solving the poor efficiency and stability of impaired leg, in 6-1-n, for [3 |
2] and [2 | 3] type, efficient state is identical, so not needing to convert；In [2 | 2] that 6-2 series is formed by four legs
Type, it is made of two pairs of symmetrical legs, in conclusion 6-2-L3R3It is special that type needs to have the leg movement of fixed position
It is required that based on above-mentioned analysis, for any legged type robot side at least two legs, fixed position adjustment can be passed through；
Among the above [3 | 2] indicate the left side have three legs and it is right it have two legs；
(4) non-fixed position adjusts:
The non-fixed position adjustment of leg is shown in position and slide rail, for example, the optimum position of leg can be calculated
To obtain optimal dmin；
(5) after the failure of leg recovery tasks program:
Whether assessment can be provided immediately after impaired leg report failure to make a response, and a leg can not be supported
Probability Estimation be 67%, failure occurs second or third joint, and therefore, the leg of damage is necessary to switch off, and after the cutting of leg, leads to
It crosses the classification of various leg configurations and compares to obtain best configuration.
Beneficial effects of the present invention:
1. the present invention is for gait adjustment, it proposes fixed position adjustment (FP) and non-fixed position adjusts (NFP).It is logical
It crosses using the fixation position adjustment (FP) suggested and non-fixed position adjustment (NFP), hexapod robot can overcome any failure
Event and holding stability and efficiency.In addition, the present invention is investigated removable tracing leg method in hexapod robot leg failure
Using.According to leg sequence, stride, longitudinal stability and efficiency, substitution gait is assessed.In addition, we have proposed
The table of different gait sequences completes the progressive efficiency and program of task about hexapod robot after the failure of leg.These tables can
Gait selection is provided and collects certain information about impaired leg.Therefore, it is suggested that Robot Design teacher is by these preferred gaits
It is programmed into the memory of robot, under adverse conditions, it, which will be appreciated by it, should select which kind of to substitute gait pattern.
2. hexapod robot model is considered as the moveable hexapod robot model in leg by the present invention.Use three-dimensional system of coordinate
Origin is placed in the center of gravity of robot.The design method of leg module can be abandoned and be slided, every when needed simultaneously
Leg has Three Degree Of Freedom, it swings backward and (promote stroke) speed identical with the speed of (backward stroke) forward.In the present invention I
Assume that the maximum step-length of every leg is 2S, it means that one leg can be from its neutral position movement ± S.
Detailed description of the invention
Attached drawing 1 is the hexapod robot with removable sliding leg of the invention；
Attached drawing 2 is hexapod robot schematic diagram；
Attached drawing 3 is that hexapod robot of the present invention lose one leg R2Schematic diagram one；
Attached drawing 4 is that hexapod robot of the present invention lose one leg R2Schematic diagram two；
Attached drawing 5 is that hexapod robot of the present invention lose one leg R2Schematic diagram three；
Attached drawing 6 is the enhancing gait schematic diagram one of hexapod robot of the present invention；
Attached drawing 7 is the enhancing gait schematic diagram two of hexapod robot of the present invention；
Attached drawing 8 is the programme diagram of completion task after the failure of hexapod robot leg of the present invention.
In figure: 1, guiding carriage, 2, body, 3, base pitch, 4, leg module, 4-1, thigh structure, 4-2, shank knot
Structure, 4-3, sufficient body.
Specific embodiment
Specific embodiment 1: a kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing, group
At including: hexapod robot, the hexapod robot body by guidance carriage 1, body 2, base pitch 3 and leg module 4,
The two sides of the body are provided with the guidance carriage, and described guides the side of carriage and base pitch to connect,
The other side of the base pitch is connect with the leg module, and the leg module is by thigh structure 4-1, shank structure 4-
2 and foot body 4-3 composition, the thigh structure connect with one end of the shank structure, the shank structure it is another
End is connect with the sufficient body, and the hexapod robot are the hexapod robot with removable sliding leg.
Specific embodiment 2:
Adjust the axial stability of gait:
In the present invention, it will be assumed that landform is flat.The stability of bold relief is difficult to measure.Engine sta bility margin is machine
One of an important factor for people's gait planning.After neutrality situation occurs, robot has abandoned damage leg, changes gait rule
It draws.Theoretically, marginal stability (center of gravity is on supporting surface boundary) is still considered as being stable.But in practical applications, even if
Robot is full symmetric shape, but due to some factors (such as: hand assembled error, part material, inequality), machine
The center of gravity of people cannot be overlapped with geometric center.Therefore we assume that limit of stability (SL) is less than theoretical limit, continuous three are used
It is usually not in edge stability when gait.Therefore, length [SL of the minimum axial direction limit of stability d minimum value between interval
+, SL-]minBetween.As shown in Fig. 2, SL+ is the stability limit of front axle, SL- is the stability limit of rear axle.As shown in Fig. 2, standard
Step-length is 2S.The full swing of front and back leg is assumed to 1.75S.The region is intended to avoid the generation of edge stability, dmin=0.
Share leg:
Most insects can be walked with three gaits, this is fast and stable balance gait (SBG).However, when one
Or multiple legs are lost, conventional three gaits are no longer applicable in.This is solved, one " sharing leg " needs in two three gaits altogether
It enjoys.Example in the following section will be described in detail " share and move back ".
Substitute gait configuration:
One leg R is lost for a hexapod robot2(as shown in figure 3, figure 4 and figure 5).Its static balancing gait
(SBG), it is still desirable to which two groups of three legs support.
But only five legs, in order to solve this, it is necessary to there is one " sharing leg " in the case where two groups of three legs support.Allow me
Study dmin=0 (6-1-R2) situation, as shown in the robot schematic diagram in Fig. 3.Gait cycle is by a series of duplicate steps
Row step composition, the support polygon of each advance step are shown on the dotted line line for connecting all standing legs.Robot
Center of gravity attached drawing 5 cannot be fallen in except supporting surface forever.Compare the support triangle of Fig. 3 and Fig. 5, it is seen that R3Leg is common
Leg.In the possible displacement range that the vertical line of body graphed alongside is leg, defined relative to body.In each step, if
One leg is mobile, it is moved to the white point in our schematic diagram from Grey Point.It will be seen that leg is initially placed at them
Neutral position, when supporting leg is mobile, all legs are swung backward, and are facilitated body and are travelled forward.
Specific embodiment 3: we generate a table, d for different gait sequencesminWith the relationship of step-length and progressive
Efficiency is shown in Table 1.From the research of this paper, the replacement that is generated due to leg defect is in gait sequence, their achievable fortune
Phoronomics characteristic only accounts for seldom part.It is more then be a lack of enough walking speeds, edge stability or with lesser step
It cuts down, so that paces become obvious uneven.In some cases, gait function completely loses.Table 2 shows various types of
Broken leg gait pattern, we indicate S with longitudinal stability SL.Since structure is complicated, working environment is severe, the leg of multilegged robot
Portion's probability of malfunction is very high.Therefore, failure problems are solved when failure occurs to be very important.It is proposed to this end that being advised in gait
Draw some variations of aspect.
Table 1 has carried out the relationship between the step-length and efficiency of failure gait to minimize adjustment
The summary of the sufficient both legs gait sequence of table 2 six
Specific embodiment 4:
Fixed position adjustment (FP):
Fixed position (FP) adjustable strategies can be used for solving the poor efficiency and stability of impaired leg.We are still using figure
Basis of the model as measurement stability in 2.In (6-1-n), for [3 | 2] (there are 3 legs and the right side in the expression left side, and it has two
Leg) and [2 | 3] type, the normal condition of efficiency is identical, so not needing to convert.In (6-2) series by four legs, [2
| 2] type, this have two pairs it is symmetrical, in conclusion (6-2-L3R3) type needs to have spy to the leg movement of fixed position (FP)
Different requirement.Based on above-mentioned analysis, for any legged type robot side at least two legs, fixed position tune can be passed through
Whole, this efficiently solves robot since the loss of one or more supporting legs lead to stability or the insufficient failure problems of efficiency.
Specific embodiment 5:
Non-fixed position adjusts (NFP):
Some fixed position adjustment are transported to leg to be discussed.But the non-fixed position of leg (NFP) adjusts
It is also likely to be that position and slide rail are as shown in Figure 1.For example, the optimum position of leg can be calculated to obtain optimal dmin。
Specific embodiment 6:
The program of recovery tasks after the failure of leg
A kind of robot restores the program of its task after severe leg failure, as shown in figure 8, reporting in impaired leg
Whether assessment can be provided immediately after failure to make a response.It is 67% (failure hair for the probability Estimation that a leg can not support
It is raw second or third joint).Therefore, the leg of damage is necessary to switch off.After the cutting of leg, the classification that is configured by various legs and
Compare to obtain best configuration.
Table 2 shows the probability that best type occurs.For example, for (6-2-n) classification, the matching of best type is only
17%.But if adjusting (FP) using fixed position, non-optimal type can be converted to best type always.In addition,
After FP, by introducing non-fixed position adjustment (NFP), robot gait can be adjusted in more detail.By following this journey
Optimal leg configuration may be implemented, to improve stability and efficiency to the maximum extent in sequence.
Claims (3)
1. a kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing, it is characterized in that: six foots
By leg carriage, body, base pitch and leg module, the two sides of the body are provided with the leg sliding for robot
The side of device, the leg carriage and base pitch connects, and the other side of the base pitch and the leg module connect
It connects, the leg module is made of thigh structure, shank structure and sufficient end, the thigh structure and the shank structure
One end connection, the other end of the shank structure connect with the sufficient end, and the hexapod robot is with legs
Moveable hexapod robot such as (Fig. 1).
2. a kind of leg according to claim 1 moves the fault-tolerant gait control method of hexapod robot leg missing,
It is characterized in that: this method comprises the following steps:
(1) control of the hexapod robot of leg is moved:
First joint of every leg module is equipped with sliding equipment, oneself for realizing leg can be controlled by operator
By moving and cutting off separation, now with 6-2-L3R3For type, as leg L3And R3When failure, L is controlled by operator3And R3Quilt
Cutting, leg L2It is moved to replacement L3Position, same R2It is moved to R3Position, the method is defined as fixed position tune
It is whole, it in this way, can be by the 6-2-L of inefficient and low stability3R3Type is converted to 6-2-L2R2The gait plan of type
Slightly；
The mechanism of cutting and sliding leg can remotely be controlled by operator:
Step 1: removing failure leg；
Step 2: intermediate leg slides into and removes leg, stable support cannot be provided when the position of leg starts mobile and remaining leg,
Must then it use specific leg moving method that robot is made to reach stable state, in 6-2-L3 R3In the case where type, leg
L2And R2Their position of movement, however, remaining leg can not provide available branch when these legs are just gone up and down on the ground
Support face, in this case, the position for changing these legs must carry out the balanced adjustment of body simultaneously, allow L first1And R1Backward
A distance s is swung, next makes L2And R2S is swung forward, then L is made by operator2And R2Leg slides into corresponding sufficient end position
Then seated position swings L1And R1Original position is returned to, these steps are repeated, until L2And R2It is moved to required fixed bit
It sets；
(2) axial stability of gait is adjusted:
Assuming that limit of stability SL is less than theoretical limit, it is usually not in edge stability when using continuous three gait, because
This, length [SL+, SL-] of the minimum axial direction limit of stability d minimum value between intervalminBetween；
(3) fixed position adjustment:
Fixed position adjustable strategies can be used for solving the poor efficiency and stability of impaired leg, right in 6-1-n in 6-1-n
In [3 | 2] and [2 | 3] type, the efficiency with normal condition is identical, so not needing fixed position adjustment.In 6-2 type
Under, the type of four legs [2 | 2] needs fixed position adjustment two sides leg symmetrical.In conclusion 6-2-L1R1And 6-2-L3R3Type
It needs to have special requirement to the leg movement of fixed position.Based on above-mentioned analysis, at least for any legged type robot side
There are two legs, guaranteed efficiency and stability can be adjusted by fixed position；
Among the above [3 | 2] indicate that the left side has three legs and the right there are two legs；
(4) non-fixed position adjusts:
The non-fixed position adjustment of leg is to determine that the optimum position of leg is optimal to obtain by calculating longitudinal stability
dmin, operator makes leg reach calculated optimum position by sliding rail；
(5) after the failure of leg recovery tasks program:
Whether assessment can be provided immediately after impaired leg report failure to make a response, and a leg can not be supported general
Rate is estimated as 67%, and failure occurs second or third joint, and therefore, the leg of damage is necessary to switch off, after the cutting of leg, by each
The classification and compare to obtain best configuration that kind leg configures.
3. a kind of leg according to claim 2 moves the fault-tolerant gait control method of hexapod robot leg missing,
It is characterized in that: this method comprises the following steps:
The configuration of fault-tolerant gait:
Hexapod robot lose one leg R2, it is still desirable to two groups of three legs support, but only five legs, so must be
There is one " sharing leg " under two groups of three legs supports.dminWhen=0, the support polygon of each advance step is shown in connection
On the dotted line line of all standing legs, the center of gravity of robot cannot be fallen in except supporting surface.Compare in (Fig. 3), (Fig. 4) and (Fig. 5)
The support triangle of step A and C, thus it is seen that R3Leg is common leg.It is leg in the vertical line of body graphed alongside
Possible displacement range is defined relative to body.In each step, if one leg is mobile, it is moved to our original from Grey Point
Manage the white point in figure.It may be seen that leg is initially placed at their neutral position (in step A).When supporting leg is mobile,
All legs are swung backward, and are facilitated body and are travelled forward, as shown in the hollow arrow in step A and C.If supporting leg is not pressed
It is moved according to step B, they are referred to as static leg, this is fixed step.In fixing step, robot was maintained at before it
Position, and wait be usually share leg adjust its position.In (Fig. 3), (Fig. 4) and (Fig. 5) half step of hollow arrow instruction and
Filled arrows indicate entire protocol；Dotted line indicates support polygon；It is S in each time interval robot operating range.
In dminGait and reaction time are enhanced for 2 type of 6-1-R when=0.Empty circles indicate that leg initially moves off ground
Moment；One solid circles shows moment when one leg touches ground；Gait cycle is equally divided into several intervals, each interval
Indicate that the time that leg is swung all is either forward still backward the distance of S；Each grid representation S in trunnion axis when
Between；Solid horizontal line is to promote stroke；The hollow white space between filled circles is then backward stroke；In addition to the R of missing2's
Leg, short vertical bar mean neutral position, such as shown in (Fig. 6) and (Fig. 7).
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| CN111114721A (en) * | 2019-12-30 | 2020-05-08 | 广州航海学院 | Adsorption type underwater robot |
| CN111605642A (en) * | 2020-06-11 | 2020-09-01 | 哈尔滨工业大学 | Free fault-tolerant gait planning method and device of hexapod robot and storage medium |
| CN112015137A (en) * | 2020-08-31 | 2020-12-01 | 安徽海螺信息技术工程有限责任公司 | Grate motion track self-matching method and system based on stroke number and stroke length |
| GB2598756A (en) * | 2020-09-10 | 2022-03-16 | Bladebug Ltd | A system and method of robot locomotion |
| CN115857328A (en) * | 2022-11-07 | 2023-03-28 | 哈尔滨理工大学 | Hexapod robot fault-tolerant gait foot-falling point planning method based on cooperative optimization of moment balance point and motion stability |
| CN116719335A (en) * | 2023-06-07 | 2023-09-08 | 哈尔滨理工大学 | Six-foot robot fault-tolerant gait planning method considering random leg faults |
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| CN112015137A (en) * | 2020-08-31 | 2020-12-01 | 安徽海螺信息技术工程有限责任公司 | Grate motion track self-matching method and system based on stroke number and stroke length |
| GB2598756A (en) * | 2020-09-10 | 2022-03-16 | Bladebug Ltd | A system and method of robot locomotion |
| WO2022053821A1 (en) * | 2020-09-10 | 2022-03-17 | Bladebug Limited | A system and method of robot locomotion |
| CN115857328A (en) * | 2022-11-07 | 2023-03-28 | 哈尔滨理工大学 | Hexapod robot fault-tolerant gait foot-falling point planning method based on cooperative optimization of moment balance point and motion stability |
| CN115857328B (en) * | 2022-11-07 | 2023-10-17 | 哈尔滨理工大学 | Six-foot robot fault-tolerant gait foot drop point planning method based on cooperative optimization of moment balance points and motion stability |
| CN116719335A (en) * | 2023-06-07 | 2023-09-08 | 哈尔滨理工大学 | Six-foot robot fault-tolerant gait planning method considering random leg faults |
| CN116719335B (en) * | 2023-06-07 | 2024-04-19 | 哈尔滨理工大学 | Six-foot robot fault-tolerant gait planning method considering random leg faults |
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