A heavy-load quadruped robot non-hard wet and slippery road anti-skid control system and method

Abstract

This invention discloses a control system and method for preventing slippage on non-hard, wet surfaces of a heavy-duty quadruped robot, belonging to the field of robot motion control technology. The system includes a bistable folding barb-removing foot end located at the end of the leg unit, a cam triggering mechanism, and a controller. The foot end has two steady states: retracted and extended. On ordinary hard surfaces, the barbs remain retracted; on non-hard, wet surfaces, they are extended as needed. The method employs bistable discrete-adhesion superspiral sliding mode control. Based on the road surface's engagement capability, foot end slippage risk, insufficient anti-slip margin, and support phase, the continuous auxiliary anchoring force requirement is converted into the discrete barb deployment quantity, direction, and retraction timing. This invention enables the robot to avoid accidental barb wear on ordinary surfaces and to add barbs as needed on wet surfaces, balancing anti-slip capability, structural reliability, and motion stability.

Description

Technical Field

[0001] This invention belongs to the field of robot motion control technology, specifically relating to a control system and method for preventing slippage on non-hard wet surfaces of a heavy-duty quadruped robot. Background Technology

[0002] Heavy-duty quadruped robots often need to carry large loads across non-hard surfaces such as mud, grassland, snow-covered ground, gravel roads, and wet slopes in tasks such as field transportation, emergency rescue, engineering inspection, agricultural and forestry operations, and handling in complex sites. These surfaces have significant variations in morphology and load-bearing characteristics, making them prone to localized subsidence, mud and water lubrication, particle loosening, or shear failure during foot contact. This results in a significantly lower actual anti-slip capability compared to ordinary hard surfaces. Especially during heavy-load starts, braking, steering, uphill and downhill driving, or when subjected to external disturbances, the tangential force required by the feet increases significantly. If the foot contact does not provide sufficient anti-slip margin, it can easily lead to foot slippage, foot placement deviation, body posture fluctuations, and trajectory deviations.

[0003] Current technology suffers from the following shortcomings that urgently need to be addressed:

[0004] Insufficient anti-slip capability of feet on non-hard wet surfaces: When existing heavy-duty quadruped robots operate on non-hard wet surfaces such as wet mud, grass, snow-covered ground, gravel roads and soft slopes, local sinking, mud and water lubrication, particle loosening or shearing damage can easily occur between the feet and the ground. This results in insufficient available friction and mechanical biting capacity of the feet, making it easy for foot slippage, posture disturbance and trajectory deviation to occur during heavy-duty starting, braking, turning and anti-disturbance processes.

[0005] The problem of the non-adjustable anti-slip capability of spiky foot end: Current foot ends mostly use rubber pads, anti-slip textures, fixed toothed structures, or exposed spiky ridges to improve grip. Their anti-slip effect mainly depends on the material and fixed structure, and it is difficult to actively adjust according to the road surface type, slip risk, support phase, and slip direction. Especially on ordinary hard surfaces, if the spiky ridges are accidentally deployed or exposed for a long time, it is easy to cause wear, bending or damage to the micro-spiky ridges, and affect the smoothness of the foot landing.

[0006] The problem of insufficient coordination between bistable barb removal structure and anti-slip stability control: The foot of the bistable folding barb removal has two stable states, retracted and extended. Its execution process has discrete switching characteristics. Existing anti-slip control methods mostly control continuous contact force or joint torque. They lack a control mechanism that takes into account the risk of foot slippage, ground interlocking, number of barbs extended, extension direction, and the timing of retraction before the swing phase. It is difficult to simultaneously take into account foot anti-slip, structural protection and overall machine stability on non-hard wet and slippery surfaces. Summary of the Invention

[0007] To address the aforementioned problems in existing technologies, this invention provides a control system and method for anti-slip on non-hard, wet, slippery surfaces for heavy-duty quadruped robots. This system integrates road surface engagement, foot slippage risk, support phase, barb bistable state, and robot stability requirements into the control process. This ensures the robot maintains barb retraction on ordinary hard surfaces or when anti-slip requirements are low, preventing accidental deployment and micro-barb damage. In non-hard, wet, slippery support phases with slippage risk, the system controls the number of deployed barbs, their direction of deployment, and the timing of retraction as needed, thereby improving the anti-slip capability and motion stability of heavy-duty quadruped robots on complex, low-adhesion surfaces.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] This invention provides a non-hard, wet, slippery surface anti-slip control system for a heavy-duty quadruped robot, comprising:

[0010] The bistable folding spiked foot end, located at the end of each leg unit, includes multiple sets of auxiliary compression and rebound components distributed circumferentially along the sole of the foot. Each auxiliary compression and rebound component is provided with at least one set of spikes. The spikes remain retracted within the sole contour when the anti-slip requirement is lower than a preset threshold on ordinary hard surfaces or when the anti-slip requirement is lower than a preset threshold. The spikes are deployed as needed when the anti-slip requirement is lower than a preset threshold on non-hard wet surfaces and when there is a risk of slippage.

[0011] The cam triggering mechanism located on the leg unit is used to drive the auxiliary pressing and rebound assembly of the bistable folding barb foot end, so that the barb can obtain auxiliary pressing when it needs to be attached, and obtain auxiliary rebound condition when it needs to be retracted.

[0012] The controller, connected to each leg unit, includes a status sensing module, a bite support judgment module, a slip risk / anti-slip margin calculation module, a BDAS-STSMC control module, a barb removal quantification decision module, a barb removal direction selection module, a bistable barb removal execution control module, a foot assembly execution module, and a status feedback module. It is used to control the number of barbs deployed, the deployment direction, and the timing of retraction based on the road surface biteability, foot slip risk, support phase, and the current state of the barbs.

[0013] Furthermore, the bistable folding barbed foot also includes a grounding interlock adjustment component, which is configured one-to-one with the auxiliary compression rebound component to generate grounding reaction force and pre-tightening conditions after the foot edge contacts the ground; the grounding interlock adjustment component includes a grounding element, a pre-compression spring, and a contact position switching component. The grounding element is disposed at the foot edge, and the pre-compression spring is configured to cooperate with the grounding element and the contact position switching component respectively, to generate pre-pressure after the grounding element is subjected to the ground, and the contact position switching component changes its contact position with the bistable folding spring under the action of the pre-compression spring.

[0014] Furthermore, the auxiliary pressing and rebound assembly includes an independent cam trigger, a central trigger block, a bistable folding spring, a fixed fulcrum, a barb-removing support arm, barbs, and an auxiliary pressing and rebound component. The barbs are fixedly mounted on the barb-removing support arm, which is connected to the bistable folding spring. The bistable folding spring is capable of elastic bending and overturning past its center between its folded and unfolded states. The central trigger block cooperates with the independent cam trigger to provide the bistable folding spring with the central triggering force required for state switching. The auxiliary pressing and rebound component is folded within the foot's contour in its normal state and rotates to a predetermined position under the drive of the cam trigger mechanism when auxiliary pressing or rebound is required.

[0015] Furthermore, the bistable folding barb foot has the following four working states:

[0016] In the normal retracted support state, the spikes are retracted within the foot's contour, and the bistable folding spring is in a retracted stable state, suitable for ordinary hard surfaces or working conditions where anti-slip requirements are lower than a preset threshold.

[0017] In the grounding interlocking ready-to-trigger state, the grounding component is in contact with the ground and provides grounding reaction force, the preload spring is compressed, the contact position switching component changes its contact position with the bistable folding spring, so that the bistable folding spring obtains the predetermined folding and bending conditions, and the barbs remain retracted;

[0018] In the extended and attached state of the barbs, the independent cam trigger drives the central trigger block to make the bistable folding spring pass the critical position of the extension and switch to the extended stable state. The barbs move to the extended position with the barb support arm and pierce or bite the ground. The auxiliary pressing spring rotates to the auxiliary pressing position.

[0019] In the recovery and reset state, the bistable folding spring passes the reverse critical position and returns to the closed stable state, the barbs retract into the foot contour, and the auxiliary pressing spring is simultaneously reset.

[0020] Furthermore, the state perception module is used to acquire the robot's current operating state, the bistable folding barb-removing foot contact state, and the road surface barb-removing state; the bite-support judgment module is used to determine whether barb-removing attachment is allowed based on the road surface bite-support and foot contact phase; the slip risk / anti-slip margin calculation module is used to calculate the slip risk index, anti-slip margin, and anti-slip margin deficiency based on the foot tangential contact force, normal support force, road surface friction coefficient, and current barb-removing auxiliary anchoring force; the BDAS-STSMC control module is used to construct a slip margin coupling sliding surface based on the robot's motion error, foot slip speed, and anti-slip margin deficiency, and calculate continuous auxiliary anchoring through an adaptive superspiral reaching law. The continuous auxiliary anchoring force requirement is converted into a discrete number of deployed barbs and a set of deployed barbs. The barb direction selection module determines the target barb direction based on the predicted slip direction at the foot and the effective anti-slip direction of each group of barbs. The bistable barb execution control module generates grounding interlock trigger commands, barb deployment commands, auxiliary clamping commands, and retraction reset commands. The foot assembly execution module responds to the target barb command and executes the barb retraction, deployment, auxiliary clamping, and retraction reset. The status feedback module acquires the barb deployment and retraction status, foot slippage status, and abnormal jamming status, and outputs the feedback information to the status perception module.

[0021] This invention also provides a method for anti-slip control of a heavy-duty quadruped robot on non-hard wet surfaces, which is implemented through the aforementioned anti-slip control system for heavy-duty quadruped robots on non-hard wet surfaces. The method includes the following steps: acquiring information on the robot's current operating state, the contact state of the bistable folding barbed foot, the road surface state, and the barbed barbed state.

[0022] Based on the road surface interlocking and the contact phase of the bistable folding barb stick foot, determine whether the corresponding bistable folding barb stick foot meets the interlocking support condition. If the current road surface is not suitable for barb stick insertion, barb stick deployment is prohibited.

[0023] For a bistable folding barbed wire foot that meets the interlocking support condition, the slippage risk index is calculated based on the tangential contact force, normal support force, and road surface friction coefficient of the bistable folding barbed wire foot. and anti-slip margin And calculate the insufficient anti-slip margin based on the preset anti-slip safety margin. ;

[0024] The BDAS-STSMC control method is adopted to incorporate robot motion error, sliding speed of bistable folding barbed foot, and insufficient anti-slip margin into the sliding margin coupling sliding surface. Through the adaptive superspiral reaching law Calculate the continuous auxiliary anchoring force requirement;

[0025] The continuous auxiliary anchoring force requirement is converted into the discrete number and direction of barbed deployment that can be executed at the bistable folding barbed foot.

[0026] When the foot of the bistable folding barb is in the support phase, the road surface meets the interlocking conditions, and the slippage risk reaches the slippage risk deployment threshold. And the sliding surface reaches the sliding surface unfolding threshold. At that time, the control switch of the barb removal mechanism from the retracted steady state to the deployed steady state and the execution of auxiliary clamping;

[0027] When the bistable folding barb foot is about to enter the swing phase or the slip risk is eliminated, the tangential load on the bistable folding barb foot is reduced and the barb is controlled to retract into the foot contour.

[0028] Furthermore, the slippage risk indicator Anti-slip margin and insufficient anti-slip margin They are represented as follows:

[0029] ;

[0030] ;

[0031] ;

[0032] in, For the first The tangential contact force at the tip of a bistable folding barb. For the first The normal support force at the foot of a bistable folding barbed plate For the first The road surface friction coefficient corresponding to the foot end of the bistable folded barb. To prevent positive numbers with a denominator of zero, For the first The bistable folding barbed foot has deployed the auxiliary anchoring force provided by the barbed strip. This is to pre-set a safety margin for anti-slip properties.

[0033] Furthermore, the slip margin is coupled to the sliding surface. The construction is as follows:

[0034] ;

[0035] in, In order to be with the first The robot's posture, velocity, or trajectory tracking error is related to the bistable folding barbed foot tip. The rate of change of error, For the first The sliding speed of the bistable folded barb foot end , , The preset weighting coefficients; the adaptive superspiral reaching law for:

[0036] ;

[0037] ;

[0038] in, For boundary layer parameters, It is a saturation function. For the internal state variables of the superhelical sliding mode, and The adaptive sliding mode gain is determined based on the foot slip risk, foot slip velocity, and road surface engagement coefficient.

[0039] Furthermore, the number of barbs deployed is determined through the following quantitative decision-making method:

[0040] ;

[0041] And satisfy:

[0042] ;

[0043] in, The penalty coefficient for the number of spikes is determined by the number of spikes deployed. This represents the penalty coefficient for changes in the spiking state. This indicates the change in the set of spike removal components in the current control cycle relative to the previous control cycle.

[0044] Furthermore, the deployment and retraction of the barbs employ dual-threshold hysteresis control, with the slippage risk deployment threshold being [value missing]. The sliding surface unfolding threshold is The corresponding recovery threshold is the slippage risk recovery threshold. and sliding surface recycling threshold ,satisfy When slippage risk indicators And the synovial surface When the barbs are allowed to spread; when or Furthermore, barb removal is allowed to be retracted once the minimum retention time has been met.

[0045] The present invention has the following beneficial effects:

[0046] This invention provides a bistable folding spiked foot end for heavy-duty quadruped robots, which keeps the foot end in a retracted state when on ordinary hard surfaces or when anti-slip requirements are low, and unfolds the spikes as needed when on non-hard, slippery surfaces and when there is a risk of slippage, thus taking into account both the smoothness of walking on ordinary surfaces and the anti-slip capability on low-adhesion surfaces.

[0047] This invention introduces road surface interlockability and support phase judgment to ensure that the barbs only enter the attachment process in the support phase suitable for mechanical interlocking, avoiding the barbs from being mistakenly deployed in ordinary hard road surfaces or oscillating phases, thereby reducing barb wear, bending and damage, and improving the reliability of the foot structure.

[0048] This invention constructs a bistable discrete augmented superhelical sliding mode control method, which introduces foot slip velocity and insufficient anti-slip margin into the control process, enabling the controller to actively calculate the auxiliary anchoring force requirement based on slip risk, thereby improving the robustness of anti-slip control on non-hard wet slippery surfaces.

[0049] This invention converts the continuous auxiliary anchoring force requirement into discrete barbed barb deployment quantity and deployment direction, enabling the control algorithm to match the two stable states of bistable barbed barb deployment, "shrinking / deploying," thus avoiding unnecessary barbed barb deployment and frequent switching.

[0050] This invention enables the barb removal system to reliably deploy and stably engage with the ground within the support phase by setting up grounding interlocks, auxiliary clamping, retraction and reset, and status feedback mechanisms. It also allows the barb removal system to retract in time before the foot enters the swing phase, thereby reducing the risks of jamming, forced pulling under load, and gait interference, and improving the movement stability and operational safety of the heavy-duty quadruped robot on complex low-adhesion surfaces. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the overall structure of the heavy-duty quadruped robot used in this invention.

[0052] Figure 2 This is a schematic diagram of the bottom structure of the bistable folded barbed foot described in an embodiment of the present invention.

[0053] Figure 3 This is a schematic diagram of the cam triggering mechanism described in an embodiment of the present invention.

[0054] Figure 4 This is a schematic diagram of the auxiliary pressing and rebound assembly and the barb removal assembly structure described in an embodiment of the present invention.

[0055] Figure 5 This is a logic diagram of the state switching of the bistable folded barbed foot end as described in an embodiment of the present invention.

[0056] Figure 6 This is a flowchart of the anti-slip control method for non-hard wet and slippery surfaces of the heavy-duty quadruped robot described in this invention.

[0057] In the picture:

[0058] 1-Environmental collector; 2-Hip connector; 3-Thigh mechanism motor assembly; 4-Thigh mechanism; 5-Lower leg connector; 6-Cam trigger mechanism; 7-Lower leg mechanism; 8-Bistable folding barb-removing foot end; 9-Driver; 10-Trigger block; 11-Grounding interlock adjustment assembly; 12-Auxiliary clamping spring assembly; 13-Status / slippage detection sensor; 14-Independent cam trigger; 15-Center trigger block; 16-Bistable folding spring; 17-Fixed fulcrum; 18-Barb-removing support arm; 19-Barb removal; 20-Auxiliary clamping spring assembly; 21-Contact position switching assembly; 22-Preload spring; 23-Grounding assembly. Detailed Implementation

[0059] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0060] Example 1:

[0061] This embodiment is a non-hard, wet, slippery surface anti-slip control system for a heavy-duty quadruped robot. The system is adapted to the structure of the heavy-duty quadruped robot and bistable folding spiked foot ends are set at the ends of each leg unit. This allows the spikes to be kept in a retracted state on ordinary hard surfaces or when the anti-slip requirement is low. On non-hard, wet, slippery surfaces where there is a risk of slippage, the spikes can be unfolded as needed to improve the mechanical engagement ability and anti-slip stability between the foot end and the ground.

[0062] like Figure 1 As shown, the heavy-duty quadruped robot used in this embodiment includes a body and multiple leg units mounted on the body. An environmental collector 1 is installed on the body to acquire information on the road surface type, terrain status, and passable area in front of the robot. Each leg unit includes a hip connector 2, a thigh mechanism motor assembly 3, a thigh mechanism 4, a lower leg connector 5, a cam trigger mechanism 6, a lower leg mechanism 7, a bistable folding spiked foot end 8, and a controller. The hip connector 2 is used to connect the leg unit to the body. The thigh mechanism 4 is rotatably connected to the hip connector 2. The thigh mechanism motor assembly 3 is used to drive the thigh mechanism 4 to move relative to the body. The lower leg mechanism 7 is used to cooperate with the thigh mechanism 4 to complete the robot's support, swinging and landing actions. The bistable folding barbed foot end 8 is located at the end of the lower leg mechanism 7. The cam trigger mechanism 6 is located on the lower leg mechanism 7 and is used to drive the auxiliary pressing and rebound assembly 12 inside the bistable folding barbed foot end 8 through the transmission relationship, so that the barbs 19 of the bistable folding barbed foot end 8 can obtain auxiliary pressing when they need to be attached, and obtain auxiliary rebound conditions when they need to be retracted. The controller is connected to each leg unit for control.

[0063] The bistable folding barbed foot end 8 can be used as a normal foot end on ordinary hard surfaces, with its barbs 19 kept in a retracted state to prevent the micro-barbs from being accidentally unfolded, worn, or damaged on hard surfaces; on non-hard, slippery surfaces, when the controller determines that there is a risk of slippage in the corresponding support foot, it can control part or all of the barbs to switch from a retracted steady state to an unfolded steady state, so that the barbs form a mechanical engagement with the ground, thereby improving the anti-slip ability of the foot end.

[0064] As attached Figure 2 As shown, the bistable folding barbed foot end 8 includes a foot sole, a state / slippage detection sensor 13, barbs 19, an auxiliary pressing and rebound assembly 12, and a grounding interlock adjustment assembly 11. The state / slippage detection sensor 13 is located in the middle of the foot sole and is used to detect whether the bistable folding barbed foot end has slipped or whether the barbs are in an unfolded or retracted state, and to feed the detection results back to the controller. Multiple sets of auxiliary pressing and rebound assemblies 12 can be distributed along the circumference or radial direction of the foot sole. Each auxiliary pressing and rebound assembly 12 is provided with at least one set of barbs 19. Each set of barbs includes multiple micro-barbs. The auxiliary pressing and rebound assembly 12 is used to select the retraction, unfolding, auxiliary pressing, and auxiliary rebound of barbs 19 at different positions according to the predicted slippage direction of the foot end. The grounding interlock adjustment assembly 11 is the same number as the auxiliary pressing and rebound assembly 12 and is arranged one-to-one on the outer diameter of the auxiliary pressing and rebound assembly 12. It is used to form a grounding reaction force and pre-tightening condition after the edge of the foot sole contacts the ground.

[0065] As attached Figure 3 As shown, the cam triggering mechanism 6 includes a driver 9 and a trigger block 10. The driver 9 can be a motor, a geared motor, or other controllable drive unit. The trigger block 10 is connected to the driver 9 and cooperates with the auxiliary pressing and rebound assembly 12 at the end of the bistable folding barb slat foot via a transmission mechanism. When the controller outputs an auxiliary pressing or rebound command, the driver 9 drives the trigger block 10 to move, thereby causing the auxiliary pressing and rebound assembly 12 to enter the corresponding working position. It should be noted that the driver 9 and the trigger block 10 are mainly used to drive the auxiliary pressing and rebound assembly 12 and do not directly serve as the main load-bearing structure after the barb slats are unfolded.

[0066] As attached Figure 4 As shown, the auxiliary pressing and rebound assembly 12 includes an independent cam trigger 14, a central trigger block 15, a bistable folding spring 16, a fixed fulcrum 17, a barb-removing bearing arm 18, a barb 19, an auxiliary pressing and rebound component 20, a contact position switching component 21, a preload spring 22, and a grounding component 23.

[0067] The bistable folding spring 16 is the core component for switching between the folded and unfolded steady states of the barbs. Similar to a hairpin spring structure, it can elastically bend and rotate past its center between the folded and unfolded states. The fixed fulcrum 17 provides one end of the bistable folding spring 16 for fixed support. The barb-carrying arm 18 is a rigid or near-rigid support component. The barbs 19 are fixedly mounted on the barb-carrying arm 18. The barb-carrying arm 18 and the barbs 19 themselves do not undergo significant shape changes, but rather move relative to the bistable folding spring 16 when it switches forms, allowing the barbs 19 to switch between the folded position and the position where they are embedded in the ground. The central trigger block 15 is configured in conjunction with the independent cam trigger 14. A bistable folding spring 16 has a clearance structure in its middle for the central triggering block 15 to pass through. After passing through this clearance structure, the central triggering block 15 acts on the barbed wire support arm 18 or the connection area between the bistable folding spring 16 and the barbed wire support arm 18, providing the central triggering force required for state switching to the bistable folding spring 16 when triggered by the controller. The independent cam trigger 14 can be independently controlled by the controller, and its specific driving form can be implemented by a micro motor, servo motor, or other controllable actuators; this invention does not limit this. The grounding element 23 is located at the edge of the foot or the end of the barbed wire, and is used to preferentially contact the ground after the foot lands and provide grounding reaction force. The preload spring 22 is configured in conjunction with the grounding element 23 and the contact position switching element 21, and is used to generate preload after the grounding element 23 is subjected to the action of the ground. The contact position switching component 21, under the action of the preload spring 22, changes its contact position with the bistable folding spring 16 or related contact parts, so that the bistable folding spring 16 obtains predetermined folding and bending conditions, thereby improving the reliability of the barb deployment and retraction process. The auxiliary pressing and rebound component 20 is disposed on the sole of the foot or near the barb. In the normal state, the auxiliary pressing and rebound component 20 is folded within the contour of the sole of the foot and does not affect walking on ordinary hard surfaces; when auxiliary pressing or auxiliary rebound is required, the auxiliary pressing and rebound component 20 can be rotated to a predetermined position under the action of the driver 9 and the trigger block 10, preferably rotating about 90° and then pressing against the ground, to improve the insertion stability of the barb 19 after the barb is deployed, or to provide instantaneous auxiliary ground reaction force when the barb is retracted, so as to help the bistable folding spring 16 reliably return to the folded stable state.

[0068] As attached Figure 5 As shown, during robot operation, the bistable folding barbed foot 8 has a conventional retracted support state, a grounding interlock ready-to-trigger state, a barbed extension and attachment state, and a retracted reset state:

[0069] In its normal retracted support state, the spikes 19 are retracted within the foot's contour, the bistable folding spring 16 is in a retracted stable state, the auxiliary clamping spring 20 keeps it retracted, and the independent cam trigger 14 and the central trigger block 15 do not perform the unfolding trigger action. At this time, the robot mainly relies on ordinary foot contact with the ground to transmit support force and tangential force, which is suitable for ordinary hard surfaces, surfaces that cannot be interlocked, or working conditions with low anti-slip requirements, thereby avoiding accidental unfolding, wear, or damage to the spikes 19 on hard surfaces.

[0070] When the controller confirms, based on road surface perception information, the contact state of the bistable folding barb foot 8, and the slippage risk assessment, that the corresponding bistable folding barb foot 8 is in the support phase and the current road surface has mechanically engaging conditions, the corresponding bistable folding barb foot enters the grounding interlocking ready-to-trigger state. In this state, the grounding element 23 contacts the ground and provides grounding reaction force, the preload spring 22 is compressed, and the contact position switching element 21 changes its contact position with the bistable folding spring 16, so that the bistable folding spring 16 obtains the predetermined folding and bending conditions. It should be noted that when the bistable folding barb foot 8 lands on a normal hard road surface, the grounding element 23 can also contact the ground, and the preload spring 22 can also generate passive compression. However, when the controller does not determine that the support conditions are mechanically engaging, the independent cam trigger 14, the central trigger block 15, and the auxiliary clamping spring 20 do not perform the unfolding action, and the barbs 19 remain in the retracted state.

[0071] When the controller further determines that there is a risk of slippage in the bistable folding barb foot 8 in the support phase, or that the barb auxiliary anchoring requirement reaches a preset threshold, the corresponding bistable folding barb foot enters the barb deployment and attachment state. At this time, the independent cam trigger 14 drives the central trigger block 15 to move. The central trigger block 15 passes through the clearance structure in the middle of the bistable folding spring 16 and applies a triggering force to the barb support arm 18 or the connection area between the bistable folding spring 16 and the barb support arm 18, causing the bistable folding spring 16 to cross the deployment critical position and switch from the retracted stable state to the deployed stable state. After the bistable folding spring 16 changes shape, it drives the barb support arm 18 to generate relative movement. The barbs 19 move with the barb support arm 18 to the deployed position and penetrate or engage with non-hard, wet, slippery surfaces. At the same time, the driver 9 drives the trigger block 10 to rotate the auxiliary clamping spring 20 to the auxiliary clamping position, providing auxiliary clamping effect on the barbed wire support arm 18 or the barbed wire 19, thereby improving the mechanical engagement stability between the barbed wire 19 and the ground.

[0072] When the bistable folding barb foot 8 is about to enter the swing phase, the slippage risk is eliminated, or the controller determines that the current road surface has switched to a non-engaging surface, the corresponding bistable folding barb foot enters the retraction and reset state. In this state, the controller first reduces the tangential load on the foot by adjusting the contact force to prevent the barb 19 from being forcibly pulled out under load; then the driver 9 drives the trigger block 10 to move in the opposite direction, so that the auxiliary clamping spring 20 provides instantaneous auxiliary ground reaction force, and the independent cam trigger 14 and the central triggering block 15 cooperate to trigger the bistable folding spring 16 to cross the reverse critical position. After the bistable folding spring 16 returns to the retracted stable state, the barb carrying arm 18 drives the barb 19 to retract into the foot contour, and the auxiliary clamping spring 20 resets synchronously. After the status / slippage detection sensor 13 confirms that the barb 19 has completed retraction, the corresponding foot returns to the normal retracted support state or enters the swing phase.

[0073] As attached Figure 6 As shown, the controller includes a state perception module, a bite support judgment module, a slip risk / anti-slip margin calculation module, a BDAS-STSMC control module, a spiking quantification decision module, a spiking direction selection module, a bistable spiking execution control module, a foot assembly execution module, and a state feedback module.

[0074] The state perception module is used to acquire the robot's current operating state, the contact state of the bistable folding barblets' feet, and the barbling state on the road surface. The robot's current operating state includes at least the robot's center of mass position, robot velocity, robot attitude angle, and robot angular velocity. The contact state of the bistable folding barblets' feet includes at least whether the bistable folding barblets' feet of each leg unit are in the support phase, the position of each bistable folding barblet's foot relative to the robot's center of mass, the estimated tangential contact force of each bistable folding barblet's foot, the estimated normal support force, and the sliding velocity of each bistable folding barblet's foot. The barbling state on the road surface includes at least the current road surface type, road surface friction coefficient, road surface interlocking capability, the deployment / retraction state of each group of barbs on each bistable folding barblet's foot, and whether there is any abnormal jamming. The state perception module is also used to receive feedback information output by the state feedback module and provide the updated state information to subsequent control modules.

[0075] The engagement support judgment module is used to determine whether the corresponding bistable folded barb foot meets the basic conditions for barb attachment based on the road surface engagement, bistable folded barb contact phase, and barb locking state output by the state perception module. Specifically, if the current road surface is a normal hard surface, paved surface, stone slab surface, metal surface, or other road surface unsuitable for barb insertion, the engagement support judgment module outputs a judgment result prohibiting barb deployment, keeping the corresponding barb in a retracted state; when the corresponding bistable folded barb foot is in the support phase, and the current road surface is non-hard and slippery with mechanical engagement conditions, the engagement support judgment module outputs an engagement support judgment signal, causing the corresponding bistable folded barb foot to enter the subsequent slip risk and anti-slip margin calculation process.

[0076] The slip risk / anti-slip margin calculation module is used to calculate the slip risk, anti-slip margin, and insufficient anti-slip margin of the bistable folding barbed wire foot based on the tangential contact force, normal support force, road surface friction coefficient, and current barbed wire auxiliary anchoring force of the bistable folding barbed wire foot. The slippage risk index of a bistable folded barbed foot is expressed as follows:

[0077]

[0078] in, For the first The tangential contact force at the tip of a bistable folding barb. For the first The normal support force at the foot of a bistable folding barbed plate For the first The road surface friction coefficient corresponding to the foot end of the bistable folded barb. To prevent positive numbers with a denominator of zero.

[0079] The slip risk / anti-slip margin calculation module is also used to calculate the anti-slip margin:

[0080]

[0081] in, For the first The bistable folding barbed foot has deployed the auxiliary anchoring force provided by the barbs. Furthermore, the insufficient anti-slip margin of the bistable folding barbed foot is expressed as:

[0082]

[0083] in, This is to pre-set a safety margin for anti-slip properties.

[0084] The slip risk, anti-slip margin, and margin deficiency are used to reflect whether there is a slip trend at the current bistable folded barb foot and whether barb reinforcement is needed.

[0085] The BDAS-STSMC control module is used to perform bistable discrete augmented superspiral sliding mode control. The BDAS-STSMC control module constructs a sliding margin coupling sliding surface based on robot motion error, the sliding speed of the bistable folding barbed foot, and insufficient anti-slip margin.

[0086]

[0087] in, In order to be with the first The robot's posture, velocity, or trajectory tracking error is related to the bistable folding barbed foot tip. The rate of change of error, For the first The sliding speed of the bistable folded barb foot end , , These are the preset weighting coefficients.

[0088] The BDAS-STSMC control module is also used to calculate the continuous auxiliary anchoring force requirement based on the adaptive superhelical approach law. The adaptive superhelical approach law is:

[0089]

[0090]

[0091] in, For boundary layer parameters, It is a saturation function. For the internal state variables of the superhelical sliding mode, and This is an adaptive sliding mode gain. Therefore, the BDAS-STSMC control module can output continuous auxiliary anchoring force requirements based on the slippage trend of the bistable folded barb foot and the degree of insufficient anti-slip margin.

[0092] The barbed wire quantification decision module is used to convert the continuous auxiliary anchoring force requirement output by the BDAS-STSMC control module into a discrete barbed wire deployment decision that can be executed at the bistable folding barbed wire foot. Let the first... The first bistable folded barbed foot The spread state of the group of spikes is ,in This indicates that the barbs in this group are in a retracted state. This indicates that the group of barbs is in the deployed state; let the first... The number of micro-thorns in the group of rows is The anchoring force of a single micro-needle under nominal ground conditions is Then the first The auxiliary anchoring force provided by the barbs at the foot of a bistable folded barb is expressed as:

[0093]

[0094] in, For the first The total number of barb groups at the tip of a bistable folded barbaceous foot. For the first The road surface engagement coefficient corresponds to the bistable folded barb foot. The barb deployment quantification decision module is used to determine the number and set of barbs deployed, and to reduce unnecessary barb deployment and frequent switching while meeting the continuous auxiliary anchoring force requirements.

[0095] The spiking direction selection module is used to determine the target spiking direction based on the predicted slip direction of the bistable folded spiking foot and the effective anti-slip direction of each group of spiking. Let the first... The first bistable folded barbed foot The effective anti-slip direction of the barbed wire is , No. The unit vector for predicting the slip direction at the foot of a bistable folded barb unit is: The barb removal direction selection module prioritizes... Larger barbs. Therefore, the controller can select the appropriate barb deployment based on the sliding direction, rather than controlling all barbs to deploy simultaneously.

[0096] The bistable barb removal execution control module generates a target barb removal command based on the barb deployment set output by the barb removal quantification decision module and the target barb removal direction output by the barb removal direction selection module. The target barb removal command includes at least a grounding interlock trigger command, a barb deployment command, an auxiliary clamping command, and a recovery reset command. When the corresponding bistable folding barb foot is in the support phase, the road surface meets the interlocking conditions, the slippage risk reaches a preset threshold, and the sliding surface reaches the deployment threshold, the bistable barb removal execution control module controls the independent cam trigger 14 and the central triggering block 15 to move, causing the bistable folding spring 16 to pass the deployment critical position and switch to the deployment stable state; at the same time, it controls the driver 9 and the trigger block 10 to drive the auxiliary clamping spring 20 into the auxiliary clamping position to improve the mechanical interlocking stability between the barb 19 and the ground.

[0097] When the corresponding bistable folding barb foot is about to enter the swing phase, the slippage risk is eliminated, the road surface switches to a non-engaging surface, or abnormal force is detected on the barb, the bistable barb execution control module generates a retraction and reset command. During retraction and reset, the controller first reduces the tangential load on the bistable folding barb foot, and then controls the driver 9 and trigger block 10 to move in the opposite direction, so that the auxiliary clamping spring 20 provides instantaneous auxiliary ground reaction force, and cooperates with the independent cam trigger 14 and the middle trigger pressure block 15 to trigger the bistable folding spring 16 to cross the reverse critical position, so that the barb 19 retracts into the foot contour.

[0098] The foot assembly execution module responds to the target barb removal command output by the bistable barb removal execution control module. Through the grounding interlock adjustment component, bistable folding spring 16, barb removal support arm 18, barbs 19, auxiliary clamping spring 20, and status / slippage detection sensor 13, it realizes the retraction, deployment, auxiliary clamping, and retraction reset of the barbs. The foot assembly execution module keeps the barbs retracted on ordinary hard surfaces or when anti-slip requirements are low, and deploys the barbs as needed within the support phase where they are non-hard, slippery surfaces and where slippage is a risk.

[0099] The state feedback module is used to acquire the barb deployment / retraction status, foot slippage status, and abnormal jamming status fed back by the foot assembly execution module, and outputs the feedback information to the state perception module. The state perception module updates the robot state, bistable folding barb contact status, and road surface barb status based on the feedback information, and provides the updated state information to the bite-support judgment module, slippage risk / anti-slip margin calculation module, BDAS-STSMC control module, barb quantification decision module, barb direction selection module, and bistable barb execution control module in the next control cycle.

[0100] Through the aforementioned system, this embodiment establishes a closed-loop control process: "state perception—engagement support judgment—slippage risk / anti-slip margin calculation—BDAS-STSMC control—barb removal quantification decision—barb removal direction selection—bistable barb removal execution control—foot assembly execution—state feedback." Thus, continuous anti-slip control requirements can be transformed into discrete deployment actions executable by the bistable folding barb removal foot. This allows the heavy-duty quadruped robot to maintain barb retraction on ordinary hard surfaces or when anti-slip requirements are low, preventing accidental deployment and micro-barb damage. Furthermore, in non-hard, slippery support phases with slippage risks, barb removal can be deployed as needed, improving the robot's foot anti-slip capability, body posture stability, and operational safety.

[0101] Example 2:

[0102] This embodiment is a method for anti-slip control of a heavy-duty quadruped robot on non-hard wet surfaces. It is implemented by the anti-slip control system for a heavy-duty quadruped robot on non-hard wet surfaces described in Embodiment 1. This method is for a heavy-duty quadruped robot equipped with the bistable folding barbed foot end and uses the bistable discrete adhesion super-twisting sliding mode control (BDAS-STSMC) method for anti-slip stability control.

[0103] The BDAS-STSMC method constructs a slip margin coupled sliding surface, including the slip velocity of the bistable folding barb at the robot's current operating state, the contact state of the bistable folding barb foot, the road surface's interlocking capability, the slip risk of the bistable folding barb foot, and the current deployment state of the barbs, based on the robot's current operating state, the contact state of the bistable folding barb foot, the slip margin of insufficient anti-slip margin, and calculates the continuous auxiliary anchoring force requirement through an adaptive superspiral reaching law. Subsequently, the continuous auxiliary anchoring force requirement is converted into the number of discrete barb deployments, deployment direction, and retraction timing that the bistable folding barb foot can execute, ensuring that the barbs are deployed only as needed in non-hard, slippery support phases with slip risk, and remain in a retracted state on ordinary hard surfaces, surfaces that cannot interlock, or surfaces with low anti-slip requirements. Specifically, it includes the following steps:

[0104] S1. Obtain information on the robot's current operating status, bistable folding barb removal foot contact status, road surface status, and barb removal status.

[0105] In this embodiment, the current operating state of the robot includes at least the robot's center of mass position, robot speed, robot attitude angle, and robot angular velocity; the contact state of the bistable folding barbed foot includes at least whether the bistable folding barbed foot of each leg unit is in the support phase, the position of each bistable folding barbed foot relative to the robot's center of mass, the estimated tangential contact force of each bistable folding barbed foot, the estimated normal support force, and the sliding speed of the bistable folding barbed foot; the road surface state includes at least the current road surface type, road surface friction coefficient, and road surface interlocking; the barbed state includes at least whether each group of barbeds at each bistable folding barbed foot is in a retracted or unfolded state, and whether the barbeds are incompletely retracted, stuck, or subjected to abnormal impact.

[0106] Let the first The contact phase variable at the foot of the bistable folded barb is When the first When the foot of the bistable folding barbed bar is in the support phase... When the first When the bistable folded barb foot is in the oscillating phase... Let the first... The road surface engagement coefficient corresponding to the bistable folded barbed wire foot is: ,in , The larger the value, the more suitable the current road surface is for spikes to penetrate or form mechanical interlocking.

[0107] S2. Determine whether to allow the skeletal ejection to enter the ready-to-trigger state based on the road surface condition and the contact phase of the bistable folding skeletal ejection foot.

[0108] The controller determines whether the current contact area of ​​the bistable folding barb is a non-hard, slippery road surface that can be mechanically engaged, based on the road surface image information acquired by the environmental collector 1, the contact force change information of the bistable folding barb foot, and the information fed back by the state / slippage detection sensor 13.

[0109] If the current road surface is a normal hard surface, paved surface, stone surface, metal surface or other surface unsuitable for barbed wire insertion, the controller keeps the corresponding bistable folding barbed wire foot in a retracted state and prohibits the independent cam trigger 14 and the central trigger block 15 from performing the unfolding action to prevent the barbed wire 19 from being accidentally unfolded and causing wear or damage.

[0110] When the following conditions are met:

[0111]

[0112] At that time, the controller determines the first Each bistable folding barbed barb foot meets the interlocking support condition, and the corresponding bistable folding barbed bar foot can enter the grounding interlock ready-to-trigger state. Among them, The preset engagement threshold is used. It should be noted that when the foot of the bistable folding barb lands, the grounding component 23, the preload spring 22, and the contact position switching component 21 can mechanically follow up, but the corresponding barb is only allowed to enter the subsequent attachment triggering process when the controller determines that the engagement support condition is met.

[0113] S3. Calculate the risk of foot slippage and the slip resistance margin.

[0114] For the Each bistable folded barbed wire foot has a controller that calculates slip risk indicators based on the tangential contact force, normal support force, and road surface friction coefficient of the foot.

[0115]

[0116] in, For the first The tangential contact force at the tip of a bistable folding barb. For the first The normal support force at the foot of a bistable folding barbed plate For the first The road surface friction coefficient corresponding to the foot end of the bistable folded barb. To prevent positive numbers with a denominator of zero.

[0117] Furthermore, define the first Anti-slip margin of the bistable folding spiky foot end:

[0118]

[0119] in, For the first The bistable folded barbed foot has deployed the auxiliary anchoring force provided by the barbed strip. If A margin greater than the preset safety margin indicates that the bistable folding barbed foot has sufficient anti-slip capability; if If the deviation is less than the preset safety margin, it indicates a risk of slippage at the foot of the bistable folding barb. The insufficient anti-slip margin is defined as:

[0120]

[0121] in, This is to pre-set a safety margin for anti-slip properties.

[0122] S4. Construct a sliding margin coupled sliding surface based on BDAS-STSMC.

[0123] The BDAS-STSMC method in this embodiment does not only perform sliding mode control on robot posture or velocity errors, but also incorporates robot motion errors, the sliding speed of the bistable folding barbed foot, and insufficient anti-slip margin into the sliding surface. For the first... A bistable folded barbed end is constructed to create a slip margin coupled sliding surface:

[0124]

[0125] in, In order to be with the first The robot's posture, velocity, or trajectory tracking error is related to the bistable folding barbed foot tip. The rate of change of error, For the first The sliding speed of the bistable folded barb foot end , , These are the preset weighting coefficients.

[0126] By coupling the sliding mode surface with the slip margin mentioned above, the BDAS-STSMC method can simultaneously reflect the robot's motion stability state, the slip trend of the bistable folding barbed foot, and the degree of inadequacy of the current bistable folding barbed foot's distance from the safe anti-slip state, thereby providing continuous anti-slip control requirements for subsequent barbed discreet deployment decisions.

[0127] S5. Calculation of continuous auxiliary anchoring force requirements based on the adaptive superspiral reaching law of BDAS-STSMC.

[0128] To reduce chattering caused by switching terms in conventional sliding mode control and to improve robustness to disturbances on non-hard, wet surfaces and slippage of bistable folded barbed feet, the BDAS-STSMC method employs an adaptive superspiral reaching law to calculate the sliding mode control variables.

[0129]

[0130]

[0131] in, For boundary layer parameters, It is a saturation function. For the internal state variables of the superhelical sliding mode, and For adaptive sliding mode gain.

[0132] The adaptive sliding mode gain is determined based on the slippage risk of the bistable folded barb strip foot, the slippage velocity of the bistable folded barb strip foot, and the road surface engagement coefficient.

[0133]

[0134] in, , , , , , , , These are preset parameters. Therefore, when the risk of slippage at the bistable folding barb removal foot is high, the slippage speed is high, or the road surface has poor interlocking properties, the controller increases the sliding mode approach strength; when the slippage risk is low, the controller decreases the control strength to reduce unnecessary barb removal actions.

[0135] Based on the aforementioned superspiral sliding mode control quantity, the controller calculates the first... The continuous auxiliary anchoring force required for the foot of a bistable folding barb unit Preferably, the continuous auxiliary anchoring force requirement can be determined by combining the insufficient anti-slip margin as follows:

[0136]

[0137] And order:

[0138]

[0139] in, This is the auxiliary anchoring force requirement calculated from the super-helical sliding mode control quantity. This continuous auxiliary anchoring force requirement is used to characterize the... The bistable folded barb foot end represents the theoretical attachment capability required to suppress slippage.

[0140] S6. Quantify the continuous auxiliary anchoring force requirement into the number of barbed wire deployments.

[0141] Since the barbs at the foot of the bistable folded barb have discrete switching characteristics, each group of barbs has only two stable states: folding and unfolding. Therefore, the BDAS-STSMC method further transforms the continuous auxiliary anchoring force requirement into a discrete unfolding decision for finite barbs.

[0142] Let the first The first bistable folded barbed foot The spread state of the group of spikes is ,in:

[0143] This indicates that the barbs in this group are in a retracted state;

[0144] This indicates that the barbs in this group are in the deployed state.

[0145] Let the first The number of micro-thorns in the group of rows is The anchoring force of a single micro-needle under nominal ground conditions is Then the first The auxiliary anchoring force provided by the barbs at the foot of a bistable folded barb can be expressed as:

[0146]

[0147] in, For the first The total number of bistable folded barbed foot barbed groups.

[0148] The controller is based on the continuous auxiliary anchoring force requirement. Find the set of expanded barbs This ensures that the auxiliary anchoring force provided by the deployed barbs is not less than the continuous auxiliary anchoring force requirement, while minimizing the number of deployed barbs and state switching times. Preferably, this can be determined through the following quantitative decision relationship:

[0149]

[0150] And satisfy:

[0151]

[0152] in, The penalty coefficient for the number of spikes is determined by the number of spikes deployed. This represents the penalty coefficient for changes in the spiking state. This represents the change in the barb deployment set in the current control cycle relative to the previous control cycle. Therefore, the BDAS-STSMC method can convert continuous sliding mode control requirements into discrete deployment actions executable by the bistable barb deployment foot.

[0153] S7. Determine the direction of barb deployment based on the sliding direction.

[0154] To avoid structural impact and unnecessary wear caused by all barbs deploying simultaneously, the controller selects the barbs in the corresponding direction based on the predicted sliding direction of the bistable folding barb foot. Let the first... The first bistable folded barbed foot The effective anti-slip direction of the barbed wire is , No. The unit vector for predicting the slip direction at the foot of a bistable folded barb unit is: Then, prioritize selecting the barb that satisfies the larger of the following formula:

[0155]

[0156] The larger its value, the higher the number of digits. The more the spikes are deployed, the better they can resist the current slip direction. Therefore, when there is a longitudinal backward slipping tendency at the end of the bistable folding spike foot, the spikes in the anti-backward slip direction are deployed first; when there is a lateral slipping tendency at the end of the bistable folding spike foot, the spikes in the lateral anti-slip direction are deployed first; when the robot is in a turning or cross slope condition, the spikes that match the slip direction of the outer support foot are deployed first.

[0157] S8. Perform the spiking and attachment control.

[0158] The controller allows the first [unclear] when the following conditions are met. Each bistable folded barb foot corresponds to the unfolding of the barbs:

[0159]

[0160] in, To determine the threshold for slip risk, This is the threshold for the sliding surface to unfold.

[0161] During the deployment of the barbed wire, the controller controls the independent cam trigger 14 and the central trigger block 15 to move, causing the bistable folding spring 16 to pass the deployment critical position and switch to the deployment stable state. The bistable folding spring 16 drives the barbed wire support arm 18 to generate relative movement, and the barbed wire 19 moves with the barbed wire support arm 18 and penetrates or engages with the ground. At the same time, the driver 9 drives the trigger block 10 to move, causing the auxiliary clamping spring 20 to enter the auxiliary clamping position, thereby improving the mechanical engagement stability between the barbed wire 19 and the ground.

[0162] After the barbs are deployed, the controller uses the status / slippage detection sensor 13 to confirm whether the corresponding barbs are deployed in place. If the barbs are not deployed in place or abnormal jamming is detected, the controller will prevent that foot from continuing to increase the number of deployed barbs, and may reduce the robot's desired speed or redistribute the contact force of other supporting feet.

[0163] S9. Perform the spiking removal and resetting control.

[0164] The controller controls the first [function / section] when any of the following conditions are met. The bistable folding barb foot enters the recovery and reset process: the corresponding bistable folding barb foot is about to enter the swing phase; the slippage risk is eliminated; the road surface switches to a normal hard road surface or a non-interlocking road surface; the barb deployment holding time reaches the preset upper limit; the status / slippage detection sensor 13 detects abnormal force on the barb or the need for structural protection.

[0165] Before the barbs retract, the controller first reduces the tangential load on the foot end of the bistable folding barb to prevent the barbs 19 from being pulled out under load. Then, the controller driver 9 drives the trigger block 10 to reverse, so that the auxiliary clamping spring 20 provides instantaneous auxiliary ground reaction force; at the same time, the independent cam trigger 14 and the middle trigger block 15 cooperate to trigger the bistable folding spring 16 to pass the reverse critical position, so that the bistable folding spring 16 returns to the closed stable state, and the barb carrying arm 18 drives the barbs 19 to retract into the foot contour.

[0166] To avoid frequent deployment and retraction of the barbs near the critical state, this embodiment employs dual-threshold hysteresis control. The retraction threshold is set as the slip risk recovery threshold. and sliding surface recycling threshold ,in:

[0167]

[0168] when or The controller only allows the corresponding barbs to retract when the minimum holding time for the barbs has been met. After the status / slip detection sensor 13 confirms that the barb 19 has completed retraction, the bistable folding barb foot returns to the normal folded support state or enters the swing phase.

[0169] S10. Proceed to the next control cycle based on the feedback information.

[0170] In each control cycle, the controller acquires the barb deployment status, retraction status, bistable folded barb foot slippage status, and abnormal jamming status fed back by the status feedback module, and incorporates the feedback information into the status perception information. The status perception information is provided in the next control cycle for the judgment of bite support, calculation of slippage risk / anti-slip margin, BDAS-STSMC control, barb quantification decision-making, and execution control process.

[0171] Using the BDAS-STSMC method described above, this embodiment forms a closed-loop control process: "state acquisition—engagement determination—slippage risk assessment—anti-slip margin calculation—slippage margin coupled sliding mode control—continuous auxiliary anchoring force requirement calculation—barb quantity and direction decision—barb deployment / auxiliary clamping / retraction execution—state feedback." Therefore, the robot can maintain barb retraction on ordinary hard surfaces or when anti-slip requirements are low, preventing accidental deployment and micro-barb damage; and deploy barbs as needed in non-hard, slippery support phases with slippage risks, improving the foot anti-slip capability and motion stability of the heavy-duty quadruped robot on complex, low-adhesion surfaces.

Claims

1. A non-hard, wet, slippery surface anti-slip control system for a heavy-duty quadruped robot, characterized in that, include: The bistable folding spiked foot end, located at the end of each leg unit, includes multiple sets of auxiliary compression and rebound components distributed circumferentially along the sole of the foot. Each auxiliary compression and rebound component is provided with at least one set of spikes. The spikes remain retracted within the sole contour when the anti-slip requirement is lower than a preset threshold on ordinary hard surfaces or when the anti-slip requirement is lower than a preset threshold. The spikes are deployed as needed when the anti-slip requirement is lower than a preset threshold on non-hard wet surfaces and when there is a risk of slippage. The cam triggering mechanism located on the leg unit is used to drive the auxiliary pressing and rebound assembly of the bistable folding barb foot end, so that the barb can obtain auxiliary pressing when it needs to be attached, and obtain auxiliary rebound condition when it needs to be retracted. The controller, connected to each leg unit, includes a status sensing module, a bite support judgment module, a slip risk / anti-slip margin calculation module, a BDAS-STSMC control module, a barb removal quantification decision module, a barb removal direction selection module, a bistable barb removal execution control module, a foot assembly execution module, and a status feedback module. It is used to control the number of barbs deployed, the deployment direction, and the timing of retraction based on the road surface biteability, foot slip risk, support phase, and the current state of the barbs.

2. The anti-slip control system for a heavy-duty quadruped robot on non-hard, wet surfaces according to claim 1, characterized in that, The bistable folding barbed foot also includes a grounding interlock adjustment component, which is configured one-to-one with the auxiliary compression rebound component to generate grounding reaction force and pre-tightening conditions after the foot edge contacts the ground. The grounding interlock adjustment component includes a grounding element, a pre-compression spring, and a contact position switching component. The grounding element is located at the foot edge, and the pre-compression spring is configured to cooperate with the grounding element and the contact position switching component to generate pre-pressure after the grounding element is subjected to the ground. The contact position switching component changes its contact position with the bistable folding spring under the action of the pre-compression spring.

3. The anti-slip control system for a heavy-duty quadruped robot on non-hard, wet surfaces according to claim 2, characterized in that, The auxiliary pressing and rebound assembly includes an independent cam trigger, a central trigger block, a bistable folding spring, a fixed fulcrum, a barb-removing support arm, barbs, and an auxiliary pressing and rebound component. The barbs are fixedly mounted on the barb-removing support arm, which is connected to the bistable folding spring. The bistable folding spring is capable of elastic bending and overturning past its center between its folded and unfolded states. The central trigger block cooperates with the independent cam trigger to provide the bistable folding spring with the central triggering force required for state switching. The auxiliary pressing and rebound component is folded within the foot's contour in its normal state and rotates to a predetermined position under the drive of the cam trigger mechanism when assisted pressing or rebound is required.

4. The anti-slip control system for a heavy-duty quadruped robot on non-hard, wet surfaces according to claim 3, characterized in that, The bistable folding barb foot has the following four working states: In the normal retracted support state, the spikes are retracted within the foot's contour, and the bistable folding spring is in a retracted stable state, suitable for ordinary hard surfaces or working conditions where anti-slip requirements are lower than a preset threshold. In the grounding interlocking ready-to-trigger state, the grounding component is in contact with the ground and provides grounding reaction force, the preload spring is compressed, the contact position switching component changes its contact position with the bistable folding spring, so that the bistable folding spring obtains the predetermined folding and bending conditions, and the barbs remain retracted; In the extended and attached state of the barbs, the independent cam trigger drives the central trigger block to make the bistable folding spring pass the critical position of the extension and switch to the extended stable state. The barbs move to the extended position with the barb support arm and pierce or bite the ground. The auxiliary pressing spring rotates to the auxiliary pressing position. In the recovery and reset state, the bistable folding spring passes the reverse critical position and returns to the closed stable state, the barbs retract into the foot contour, and the auxiliary pressing spring is simultaneously reset.

5. The anti-slip control system for a heavy-duty quadruped robot on non-hard, wet surfaces according to claim 1, characterized in that, The state perception module is used to acquire the robot's current operating state, the bistable folding barb-removing foot contact state, and the road surface barb-removing state; the bite-support judgment module is used to determine whether barb-removing attachment is allowed based on the road surface bite-support and foot contact phase; the slip risk / anti-slip margin calculation module is used to calculate the slip risk index, anti-slip margin, and anti-slip margin deficiency based on the foot tangential contact force, normal support force, road surface friction coefficient, and current barb-removing auxiliary anchoring force; the BDAS-STSMC control module is used to construct a slip margin coupled sliding surface based on the robot's motion error, foot slip speed, and anti-slip margin deficiency, and calculate the continuous auxiliary anchoring force requirement through an adaptive superspiral reaching law. The barb quantification decision module is used to convert the continuous auxiliary anchoring force requirement into a discrete barb deployment quantity and barb deployment set; the barb direction selection module is used to determine the target barb direction based on the predicted slip direction at the foot and the effective anti-slip direction of each group of barbs; the bistable barb execution control module is used to generate grounding interlock trigger command, barb deployment command, auxiliary clamping command, and retraction reset command; the foot assembly execution module is used to respond to the target barb command and execute the barb retraction, deployment, auxiliary clamping, and retraction reset; the status feedback module is used to acquire the barb deployment and retraction status, foot slippage status, and abnormal jamming status, and output the feedback information to the status perception module.

6. A method for anti-slip control of a heavy-duty quadruped robot on non-hard, wet surfaces, comprising the heavy-duty quadruped robot anti-slip control system for non-hard, wet surfaces as described in any one of claims 1 to 5, characterized in that... The steps include: acquiring the robot's current operating status, bistable folding barb removal foot contact status, road surface status, and barb removal status information; Based on the road surface interlocking and the contact phase of the bistable folding barb stick foot, determine whether the corresponding bistable folding barb stick foot meets the interlocking support condition. If the current road surface is not suitable for barb stick insertion, barb stick deployment is prohibited. For a bistable folding barbed wire foot that meets the interlocking support condition, the slippage risk index is calculated based on the tangential contact force, normal support force, and road surface friction coefficient of the bistable folding barbed wire foot. and anti-slip margin And calculate the insufficient anti-slip margin based on the preset anti-slip safety margin. ; The BDAS-STSMC control method is adopted to incorporate robot motion error, sliding speed of bistable folding barbed foot, and insufficient anti-slip margin into the sliding margin coupling sliding surface. Through the adaptive superspiral reaching law Calculate the continuous auxiliary anchoring force requirement; The continuous auxiliary anchoring force requirement is converted into the discrete number and direction of barbed deployment that can be executed at the bistable folding barbed foot. When the foot of the bistable folding barb is in the support phase, the road surface meets the interlocking conditions, and the slippage risk reaches the slippage risk deployment threshold. And the sliding surface reaches the sliding surface unfolding threshold. At that time, the control switch of the barb removal mechanism from the retracted steady state to the deployed steady state and the execution of auxiliary clamping; When the bistable folding barb foot is about to enter the swing phase or the slip risk is eliminated, the tangential load on the bistable folding barb foot is reduced and the barb is controlled to retract into the foot contour.

7. The anti-slip control method for a heavy-duty quadruped robot on non-hard, wet surfaces according to claim 6, characterized in that, The slip risk indicator Anti-slip margin and insufficient anti-slip margin They are represented as follows: ； ； ； in, For the first The tangential contact force at the tip of a bistable folding barb. For the first The normal support force at the foot of a bistable folding barbed plate For the first The road surface friction coefficient corresponding to the foot end of the bistable folded barb. To prevent positive numbers with a denominator of zero, For the first The bistable folding barbed foot has deployed the auxiliary anchoring force provided by the barbed strip. This is to pre-set a safety margin for anti-slip properties.

8. The anti-slip control method for a heavy-duty quadruped robot on non-hard, wet surfaces according to claim 6, characterized in that, The slip margin coupled sliding surface The construction is as follows: ； in, In order to be with the first The robot's posture, velocity, or trajectory tracking error is related to the bistable folding barbed foot tip. The rate of change of error, For the first The sliding speed of the bistable folded barb foot end , , The preset weighting coefficients; the adaptive superspiral reaching law for: ； ； in, For boundary layer parameters, It is a saturation function. For the internal state variables of the superhelical sliding mode, and The adaptive sliding mode gain is determined based on the foot slip risk, foot slip velocity, and road surface engagement coefficient.

9. A method for anti-slip control of a heavy-duty quadruped robot on non-hard, wet surfaces according to claim 6, characterized in that, The number of barbs deployed is determined through the following quantitative decision-making method: ； And satisfy: ； in, The penalty coefficient for the number of spikes is determined by the number of spikes deployed. This represents the penalty coefficient for changes in the spiking state. This indicates the change in the set of spike removal components in the current control cycle relative to the previous control cycle.

10. A method for anti-slip control of a heavy-duty quadruped robot on non-hard, wet surfaces according to claim 6, characterized in that, The deployment and retraction of the barbs employ dual-threshold hysteresis control, with a slippage risk deployment threshold of [value missing]. The sliding surface unfolding threshold is The corresponding recovery threshold is the slippage risk recovery threshold. and sliding surface recycling threshold ,satisfy When slippage risk indicators And the synovial surface When the barbs are allowed to spread; when or Furthermore, barb removal is allowed to be retracted once the minimum retention time has been met.

Images