Design and motion planning of wheel-legged hexapod robot for planetary exploration

被引：0
|
作者：
Qin R. [1 ]
Xu K. [1 ]
Chen J. [1 ]
Han L. [2 ]
Ding X. [1 ]
机构：
[1] School of Mechanical Engineering and Automation, Beihang University, Beijing
[2] Shanghai Aerospace System Engineering Research Institute, Shanghai
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2021年 / 42卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Adaptive gait; Hexapod robots; Motion planning; Planetary exploration; Wheel-legged;
D O I：
10.7527/S1000-6893.2020.24244
中图分类号：
学科分类号：
摘要：
A wheel-legged hexapod robot with high symmetries is designed for planetary exploration. With a structure both centrosymmetric in the body horizontal plane and symmetric about its body horizontal plane, this robot can realize two modes of locomotion: wheeled mode and legged mode. In the knee joint, a double parallelogram transmission mechanism is used to avoid the singularity of the traditional parallelogram mechanism, enlarging the motion range of the knee joint. Based on the motion planning in the exponential coordinate on SE(3), an adaptive gait is designed for this wheel-legged hexapod robot. Relying on the force sensor on the feet and inertial measurement unit on the body, this robot using this adaptive gait without the visual sensor and the global map can achieve a stable and continuous walk in an unknown environment. Based on the symmetry of the hexapod robot about the body horizontal plane, the motion planning of the recovery from overturning is designed to meet the need for planetary exploration. Simulations are conducted in the Adams and MATLAB environment. The switch of locomotion modes, the adaptive gait, and the stumble recovery of the wheel-legged hexapod robot are achieved in the simulation. © 2021, Beihang University Aerospace Knowledge Press. All right reserved.
引用
收藏
相关论文
共 21 条
  • [1] LU D, LIU J G, GAO H B., Progress research on integrated exploration robots for planet surface landing and moving, Acta Aeronautica et Astronautica Sinica, 42, 1, (2021)
  • [2] DING X L, XU K., Robot for planetary exploration, Aeronautical Manufacturing Technology, 18, pp. 34-39, (2013)
  • [3] BROOKS R., A robot that walks: Emergent behaviors from a carefully evolved network, Neural Computation, 1, 2, pp. 253-262, (1989)
  • [4] FERRELL C L., Many sensors, one robot, Proceedings of the IEEE/RSJ International Conference (IROS'93), pp. 399-406, (1993)
  • [5] CYNTHIA F., Robust and adaptive locomotion of an autonomous hexapod, Proceedings of From Perception to Action Conference, pp. 66-77, (1994)
  • [6] MANKINS J C., Modular architecture options for lunar exploration and development, Space Technology, 1, 4, pp. 53-64, (2002)
  • [7] BRETT K, HRAND A, YANG C, Et al., Lemur: Legged excursion mechanical utility rover, Autonomous Robots, 11, 3, pp. 201-205, (2001)
  • [8] JAMES P S, NATHAN J B, BRETT K., Maximizing walking step length for a near omni-directional hexapod robot, The 2004 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 332-335, (2004)
  • [9] BARES J, HEBERT M., Ambler: An autonomous rover for planetary exploration, IEEE Computer, 22, 6, pp. 18-26, (1998)
  • [10] LIU J J, REN X, YAN W, Et al., Descent trajectory reconstruction and landing site positioning of Chang'E-4 on the lunar farside, Nature Communications, 10, 1, pp. 1-10, (2019)
123