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

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

1.
西北工业大学航海学院西安 710072

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

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出版历程
- 收稿日期: 2022-11-16
- 录用日期: 2023-03-03
- 网络出版日期: 2023-10-24

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

1.
Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072

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, 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 current research interests include 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 current research interests include control and planning of underwater vehicles

摘要

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. 本文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.
- 混合驱动 /
- 水下刀锋腿机器人 /
- 稳定性判据 /
- 水下滚动倒立摆 /
- 捕获域
Abstract: The underwater bladed legged robot hybrid-driven by 8 thrusters and 6 blade legs can walk on seafloor or underwater surface. This paper aims at investigating the evaluation criteria of the motion stability of this kind of robot, where the evaluation criteria is called as stability criterion. The existing stability criterions mainly focus on the robot that is driven by single mechanisms (legs), and not consider the hybrid-driven legged robot. Using capture point theory, we propose a stability criterion for hybrid-driven underwater bladed legged robot. Firstly, a hybrid-driven rolling inverted pendulum model that can reflect the dynamic characteristics of the robot is proposed, and the kinetic energy of the robot that the swinging legs are just touching the ground is predicted. Then, according to the maximum and minimum thrusts of the thrusters, we calculate the variation range of the expected capture point that can enforce the kinetic energy of the robot becoming zero, and the variation range is called as capture domain. Finally, the spatial relationship between the capture domain and the support domain can be employed to judge whether the robot is stable, and calculate the stability margin of the robot. Underwater experimental results show that the proposed stability criterion has better sufficiency and universality.
- Hybrid-driven /
- underwater bladed legged robot /
- stability criterion /
- underwater rolling inverted pendulum /
- capture domain

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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

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图 2 倒立摆系统及参数定义

Fig. 2 Inverted pendulum and parameter definition

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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

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图 4 线性倒立摆与滚动倒立摆

Fig. 4 Linear and rolling inverted pendulums

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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

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图 6 ${{t}_{2}}$时刻支撑域示意图

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

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图 7 支撑域与捕获域示意图

Fig. 7 Diagram of support domain and capture domain

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图 8 支撑域与捕获域之间的四类重叠情况

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

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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

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图 10 水池实验场景图

Fig. 10 Scene of pool experiment

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图 11 池底行走连拍图

Fig. 11 Snapshots of walking on pool bottom.

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图 12 五组互异垂推推力的稳定裕度

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

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图 13 五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

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图 14 十五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

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图 15 十五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

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表 1 十五组实验中推力上下界

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

实例	垂向推进器推力上界(N)	垂向推进器推力下界(N)	水平推进器推力上界(N)	水平推进器推力下界(N)
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

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