自动化学报2024，Vol.50Issue(8)：1565-1576,12.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
A Stability Criterion for Hybrid-driven Underwater Bladed Legged Robot Based on Capture Point Theory
摘要
Abstract
The underwater bladed legged robot hybrid-driven by 8 thrusters and 6 blade legs can walk on seafloor and the surface of underwater structure.This paper aims at investigating the evaluation criteria of the motion sta-bility of this kind of robot,where the evaluation criteria is called as stability criterion.The existing stability cri-terions mainly focus on the robot that is driven by single mechanisms(legs),and not consider the hybrid-driven un-derwater bladed legged robot.Using capture point theory,we propose a stability criterion for hybrid-driven under-water 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.关键词
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Key words
Hybrid-driven/underwater bladed legged robot/stability criterion/underwater rolling inverted pendu-lum/capture domain引用本文复制引用
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[J].自动化学报,2024,50(8):1565-1576,12.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Supported by National Natural Science Foundation of China(61733014,U22A2066,U1813225,U21B2047)and Key Research and Development Program of Shaanxi Province(2022ZDLGY03-05) （61733014,U22A2066,U1813225,U21B2047）
