东华大学学报（英文版）2025，Vol.42Issue(6)：650-660,11.DOI:10.19884/j.1672-5220.202411006
基于实时估计的六足轮腿式机器人模糊自适应导纳控制
Fuzzy Adaptive Admittance Control of Hexapod Wheeled-Legged Robot Based on Real-Time Estimation
摘要
Abstract
A fuzzy adaptive admittance control method based on real-time estimation is proposed for the motion of the hexapod wheeled-legged robot in various environments.Firstly,the mechanical structure of the robot is designed,and a control system framework is proposed according to the different motion environments.To address the adaptability issue of the robot foot contact with the ground,a position-based admittance control method is proposed.Secondly,to improve the tracking performance of the robot foot contact force when the ground environment changes,a fuzzy adaptive admittance parameter adjustment method is proposed.Furthermore,to address the problem of sudden changes in the tracking difference of the foot contact force when the ground environment changes,a real-time estimation method is proposed to estimate the dynamic foot contact force.Finally,a simulation experiment is conducted in MATLAB and Simscape to verify the effectiveness of the robot motion control system,admittance control,fuzzy adaptive admittance parameters adjustment,and the real-time estimation method.Through multi-scenario experiments with the robot prototype,the control method demonstrates its effectiveness and adaptability in various environments.关键词
六足轮腿式机器人/动态足端接触力/模糊自适应/实时估计/导纳控制Key words
hexapod wheeled-legged robot/dynamic foot contact force/fuzzy adaptive/real-time estimation/admittance control分类
信息技术与安全科学引用本文复制引用
陈梦奇,李艳,徐洋..基于实时估计的六足轮腿式机器人模糊自适应导纳控制[J].东华大学学报（英文版）,2025,42(6):650-660,11.基金项目
National Natural Science Foundation of China(No.U1831123) （No.U1831123）
