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基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据

陈乐鹏 崔荣鑫 严卫生 马飞宇

陈乐鹏, 崔荣鑫, 严卫生, 马飞宇. 基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据. 自动化学报, 2024, 50(7): 1−12 doi: 10.16383/j.aas.c220889
引用本文: 陈乐鹏, 崔荣鑫, 严卫生, 马飞宇. 基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据. 自动化学报, 2024, 50(7): 1−12 doi: 10.16383/j.aas.c220889
Chen Le-Peng, Cui Rong-Xin, Yan Wei-Sheng, Ma Fei-Yu. A stability criterion for hybrid-driven underwater bladed legged robot based on capture point theory. Acta Automatica Sinica, 2024, 50(7): 1−12 doi: 10.16383/j.aas.c220889
Citation: Chen Le-Peng, Cui Rong-Xin, Yan Wei-Sheng, Ma Fei-Yu. A stability criterion for hybrid-driven underwater bladed legged robot based on capture point theory. Acta Automatica Sinica, 2024, 50(7): 1−12 doi: 10.16383/j.aas.c220889

基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据

doi: 10.16383/j.aas.c220889
基金项目: 国家自然科学基金 (61733014, U22A2066, U1813225, U21B2047), 陕西省重点研发计划 (2022ZDLGY03-05) 资助
详细信息
    作者简介:

    陈乐鹏:西北工业大学航海学院博士研究生.主要研究方向为水下机器人建模与控制. E-mail: chenlepeng@mail.nwpu.edu.cn

    崔荣鑫:西北工业大学航海学院教授. 主要研究方向为水下机器人智能控制, 自主感知与规划, 多机器人协作. 本文通信作者. E-mail: r.cui@nwpu.edu.cn

    严卫生:西北工业大学航海学院教授.主要研究方向为水下航行器导引, 导航与控制. E-mail: wsyan@nwpu.edu.cn

    马飞宇:西北工业大学航海学院博士研究生.主要研究方向为水下机器人控制与规划. E-mail: mfy_nwpu@mail.nwpu.edu.cn

A Stability Criterion for Hybrid-Driven Underwater Bladed Legged Robot Based on Capture Point Theory

Funds: Supported by National Natural Science Foundation of China (61733014, U22A2066, U1813225, U21B2047) and Key Research and Development Program of Shaanxi Province (2022ZDLGY03-05)
More Information
    Author Bio:

    CHEN Le-Peng Ph.D. candidate at the School of Marine Science and Technology, Northwestern Polytechnical University. His research interest covers modeling and control of underwater robots

    CUI Rong-Xin Professor at the School of Marine Science and Technology, Northwestern Polytechnical University. His research interest covers intelligent control, perception, and planning for underwater robots, and the cooperation for multiple robots. Corresponding author of this paper

    YAN Wei-Sheng Professor at the School of Marine Science and Technology, Northwestern Polytechnical University. Her research interest covers guidance, navigation, and control of underwater vehicles

    MA Fei-Yu Ph.D. candidate at the School of Marine Science and Technology, Northwestern Polytechnical University. His research interest covers control and planning of underwater vehicles

  • 摘要: 由8个推进器和6条刀锋腿混合驱动的水下机器人可在水底或壁面上行走. 所提方法旨在研究这类机器人运动稳定性的评判准则, 即稳定性判据. 现有的稳定性判据多集中于同一机构(腿)驱动的陆地机器人, 未涉及混合驱动的水下刀锋腿机器人. 针对该问题, 提出了基于捕获点理论的混合驱动水下刀锋腿机器人稳定性判据. 首先, 在建立混合驱动水下滚动倒立摆模型的基础上, 利用机器人运动状态预测摆动腿和支撑腿切换瞬间机器人的动能; 然后, 根据推进器所能提供的推力范围, 计算迫使机器人静止的捕获点变化范围, 即获取捕获域; 最后, 根据捕获域与支撑域的空间关系, 判断机器人是否稳定, 并计算稳定裕度. 水下实验表明, 所提出的稳定性判据具有较好的充要性和普适性.
  • 图  1  混合驱动水下刀锋腿机器人系统结构

    Fig.  1  Diagram of hybrid-driven underwater bladed legged robot

    图  2  倒立摆系统及参数定义

    Fig.  2  Inverted pendulum and parameter definition

    图  3  两种时刻下刀锋腿的旋转角度

    Fig.  3  Rotation angles of bladed leg under two moments

    图  4  线性倒立摆与滚动倒立摆

    Fig.  4  Linear and rolling inverted pendulums

    图  5  混合驱动水下刀锋腿机器人的受力分析

    Fig.  5  Forces analysis of the hybrid-driven underwater bladed legged robot

    图  6  ${{t}_{2}}$时刻支撑域示意图

    Fig.  6  Diagram of support domain at ${{t}_{2}}$ momen

    图  7  支撑域与捕获域示意图

    Fig.  7  Diagram of support domain and capture domain

    图  8  支撑域与捕获域之间的4类重叠情况

    Fig.  8  Four types of overlap between support domain and capture domain

    图  9  混合驱动水下刀锋腿机器人稳定性判据框图

    Fig.  9  Block diagram of stability criterion for hybrid-driven underwater bladed legged robot

    图  10  水池实验场景图

    Fig.  10  Scene of pool experiment

    图  11  池底行走连拍图

    Fig.  11  Snapshots of walking on pool bottom.

    图  12  5组互异垂推推力的稳定裕度

    Fig.  12  Stability margin of underwater bladed legged robot in five experiments

    图  13  5组实验中水下刀锋腿机器人稳定裕度平均值

    Fig.  13  Average stability margin of underwater bladed legged robot in five experiments

    图  14  15组互异推力上下界的稳定裕度

    Fig.  14  Stability margin under fifteen different upper and lower bounds of thrust

    图  15  15组互异推力上下界的稳定裕度平均值

    Fig.  15  Average value of stability margin under 15 groups of different thrust upper and lower bounds

    表  1  15组实验中推力上下界(N)

    Table  1  Upper and lower bounds of thrust in 15 groups of experiments (N)

    实例 垂向推进器
    推力上界
    垂向推进器
    推力下界
    水平推进器
    推力上界
    水平推进器
    推力下界
    1 −10 −10 0 0
    2 −10 −10 1 −1
    3 −10 −10 2 −2
    4 −10 −10 5 −5
    5 −9 −11 0 0
    6 −6 −14 0 0
    7 0 −20 0 0
    8 30 −20 0 0
    9 30 −25 0 0
    10 30 −30 0 0
    11 30 −40 0 0
    12 30 −60 0 0
    13 30 −100 0 0
    14 30 −30 5 −5
    15 30 −30 30 −30
    下载: 导出CSV
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  • 收稿日期:  2022-11-16
  • 录用日期:  2023-03-03
  • 网络出版日期:  2023-10-24

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