仿海胆机器人结构优化设计与自由步态规划

doi:10.3778/j.issn.1002-8331.2407-0314

摘要/Abstract

摘要： 多足滚动机器人凭借其较强的全向灵活运动性能，正逐步应用于复杂的野外作业任务。考虑到结构设计和步态规划严重影响着机器人轨迹跟踪性能，借鉴海胆独特的生理结构和运动方式，基于柏拉图多面体模型优化了机器人刚柔耦合腿足结构及其空间布局，设计了一款十二腿仿海胆滚动机器人。参考柏拉图多面体展开原理，制定了机器人步态周期划分策略与动作腿足调度规则，提出了基于柏拉图多面体展开的自由步态规划方法。基于机器人运动状态的精简描述，通过构建基于接触力的动力学模型，建立了机器人多足协同控制方法。仿真和实验结果表明，设计的仿海胆滚动机器人利用提出的自由步态规划及多足协调控制方法，可实现对目标轨迹的灵活精准跟踪运动。

关键词: 仿海胆机器人, 自由步态规划, 柏拉图多面体, 协同控制, 滚动机器人

Abstract: Multi-legged rolling robots with omnidirectional mobility are gradually being applied to complex field operations. Given the impact of structural design and gait planning on trajectory tracking, inspired by the sea urchins structure and movement, a 12-legged rolling robot is developed by optimizing the rigid-flexible legs’structure and layout based on Platonic solid model. Referencing the unfolding principles of platonic solids, a free gait planning method is formulated with a gait cycle partitioning strategy and leg scheduling rules. By constructing a dynamics model based on contact forces, a multi-legged coordinated control method for the robot has been established. Simulation and experiment show that the sea urchin-inspired rolling robot, utilizing the proposed free gait planning and multi-leg coordinated control methods, can achieve flexible and precise tracking of target trajectories.

Key words: sea urchin-like robot, free gait planning, Platonic solids, cooperative control, rolling robot

刘镓琛, 王国河, 焦鑫, 杜辉翔, 宋广泽, 李满宏. 仿海胆机器人结构优化设计与自由步态规划[J]. 计算机工程与应用, 2025, 61(11): 166-175.

LIU Jiachen, WANG Guohe, JIAO Xin, DU Huixiang, SONG Guangze, LI Manhong. Structural Design and Free Gait Planning of Sea Urchin-Like Robot[J]. Computer Engineering and Applications, 2025, 61(11): 166-175.

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