Motion planning and control method for wall climbing and crossing of underwater hexapod robot

Abstract

The invention provides a motion planning and control method for wall climbing and crossing of a hybrid-driven underwater hexapod robot. The method specifically comprises the following steps: S1, for a wall surface with a known inclination angle, acquiring a forward distance from the mass center of an underwater hexapod robot to the wall surface by using distance measuring equipment; S2, judging which gait (climbing gait / crossing gait) should be adopted according to the forward distance between the mass center and the wall surface and the error between the pitch angle of the underwater hexapod robot and the inclination angle of the wall surface; S3, aiming at the climbing gait, designing a blade point leg supporting angle change rule according to a course error, and proposing a three-foot gait planning method based on CPG; and S4, aiming at the crossing gait, designing a mapping relation between an oscillator output signal and a blade point leg expected joint angle according to the wall inclination angle and the current pitch angle of the underwater hexapod robot, and proposing a CPG-based crossing gait planning method. According to the planning and control method disclosed by the invention, the underwater hexapod robot can cross wall surfaces with different inclination angles and realize stable climbing.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a motion planning and control method for wall climbing and crossing of a mixed-driven underwater hexapod robot. Background technique [0002] The ocean contains rich mineral resources, biological resources, and oil and gas resources. Reasonable and effective development of ocean resources is the only way for human survival and development. Traditional autonomous underwater vehicles (AUVs) or unmanned remote-operated vehicles (ROVs) cannot meet the needs of large-scale cruise detection operations and local refinement operations at the same time, while underwater robots driven by propellers and blade legs are capable of underwater cruises at the same time. , Landing on the wall and the ability to walk on the wall. [0003] The existing gait planning methods of legged robots are generally divided into two categories: gait planning methods based on motion calculation and g...

AI Technical Summary

Problems solved by technology

[0007] Aiming at the problem that the existing gait planning method has poor adaptability and cannot make the underwater hexapod robot climb and cross smoothly on walls with different inclination angles, the present invention proposes a hybrid-driven underwater hexapod robot wall climbing method based on the CPG algorithm. Motion Planning and Control Method for Climbing and Spanning

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