轻工机械2025，Vol.43Issue(3)：39-46,8.DOI:10.3969/j.issn.1005-2895.2025.03.006
基于气压力传感的多足机器人步态协调控制策略
Gait Coordination Control Strategy for Multi-Legged Robot Based on Pneumatic Pressure Sensing
摘要
Abstract
In order to improve the motion stability and environmental adaptability of multi-legged robots in non-flat terrain,the research group proposed a gait coordination control strategy based on pneumatic pressure sensing.The overall structure of the multi-legged robot was analyzed,and kinematic analysis was carried out.The pneumatic pressure sensing structure was designed.By sensing the changes in air pressure inside the bottom airbag when the foot touches the ground,real-time detection of the leg contact status of the multi-legged robot was achieved.In the aspect of control strategy,independent control of swing phase and support phase was proposed,and gait coordination control was carried out.The swing leg motion trajectory was autonomously adjusted based on feedback information from pneumatic pressure sensors,and the coordinated execution of swing phase and support phase was achieved by a multi-threaded parallel processing mechanism.The experimental results show that the multi-legged robot using this gait coordination control strategy moves more stably in mixed terrain of sand and gravel.Compared with before using gait coordination control strategy,the variance of roll angle change is reduced by 28.35%,and the variance of pitch angle change is reduced by 35.71%.The motion stability and environmental adaptability have been significantly improved.关键词
多足机器人/压力传感/步态控制/非平坦地形/触地/摆动腿Key words
multi-legged robot/pressure sensing/gait control/non-flat terrain/ground contact/swing leg分类
机械制造引用本文复制引用
陈刚,沈家涛,柳世袭,俞志成,李月华,曹光客,曾锦锋..基于气压力传感的多足机器人步态协调控制策略[J].轻工机械,2025,43(3):39-46,8.基金项目
浙江省应急管理研发攻关科技项目(2024YJ026) （2024YJ026）
浙江理工大学基本科研业务费专项资金资助(24242088-Y) （24242088-Y）
国防科工局稳定支持科研项目(HTKJ2023KL502019). （HTKJ2023KL502019）
