【摘要】 现代装备日益庞杂、精密，装备内各类复杂系统和模块间形成大量非结构化狭小空间，检测此类空间内设备的安全状态对整个系统的可靠运行意义重大，随着机器人技术的快速发展，爬行机器人由于其重心低、稳定性高等优势成为解决该类问题的有效途径。针对爬行机器人面对非结构化未知地形时腿足与地面接触过程中难以同时确保可靠接触并保持姿态稳定的问题，搭建了一套匍匐式机器人的运动控制框架，完成了机器人面向复杂障碍地形的运动规划，结合规划结果设计基于状态机的运动控制器，并建立机器人运动反力与足端接触状态的映射关系，研究其主动触地及自主状态切换的地形自适应控制策略，通过开展平面、斜面、弧面及非结构化障碍表面的运动实验，验证了所设计的控制策略可在复杂未知地形下保证机器人质心及姿态的稳定性。更多还原

【Abstract】 Modern equipment is increasingly complex and sophisticated, and a large number of unstructured narrow spaces are formed between various complex systems and modules in the equipment. The detection of the safety status of the equipment in such a space is of great significance to the reliable operation of the entire system. With the rapid development of robotics, crawling robots become an effective way to solve such problems due to their low center of gravity and high stability. Aiming at the problem that it is difficult for a crawling robot to ensure reliable contact and maintain a stable attitude when its legs and feet contact with the ground in the face of unstructured and unknown terrain, built a motion control framework for a crawling robot, completed the robot’s motion planning for complex obstacle terrain, and designed a motion controller based on state machine combined with the planning results. The mapping relationship between the reaction force of motion and the contact state of the foot is established, and the terrain adaptive control strategy of the robot’s active touch and autonomous state switch is studied. The motion experiments of plane, slope, cambered and unstructured obstacle surface are carried out, and the designed control strategy is verified to ensure the stability of the robot’s center of mass and attitude under complex and unknown terrain.更多还原