摘要
目前载人六足机器人驾驶员在复杂地形下步态决策完全依赖主观经验,为提高驾驶员决策质量,提出一种步态辅助决策方法。建立驾驶员信息处理模型,将地形环境作为决策因素,步态及优先级作为决策结果,利用模糊推理系统进行辅助决策;将坡度、起伏度、粗糙度及障碍高度明确为地形特征量,划分其隶属度并制定模糊规则库;利用半物理仿真操纵平台对比驾驶员在无辅助和有辅助时的决策结果。实验结果表明,辅助决策方法能够辅助驾驶员在地形变化时做出合理决策,提高六足机器人在复杂地形下的稳定性与操纵性。
The drivers of manned hexapod robots rely on subjective experience in decision-making in complex terrain.In order to improve the quality of drivers′decision-making,an auxiliary decision-making method is proposed.The information processing model of drivers is established,and the terrain is used as the decision factor while the priorities of gaits as the result.The fuzzy decision-making system is established to assist the drivers.The slope,fluctuation,roughness and barrier height are defined as the terrain features,degrees of membership are classified and the fuzzy rules are formulated.The semi-physical simulation platform of the hexapod manipulation is used to compare the decision results of the drivers with auxiliary and without auxiliary.The experimental results show that the auxiliary decision method can assist the driver to make reasonable decisions when the terrain changes,and increase stability and maneuverability of the hexapod robot in complex terrain.
作者
尤波
王明磊
许家忠
李佳钰
丁亮
高海波
YOU Bo;WANG Ming-lei;XU Jia-zhong;LI Jia-yu;DING Liang;GAO Hai-bo(School of Automation,Harbin University of Science and Technology,Harbin 150080,China;School of Mechanical and Electrical Engineering,Harbin Institute of Technology,Harbin 150080,China)
出处
《哈尔滨理工大学学报》
CAS
北大核心
2020年第1期100-107,共8页
Journal of Harbin University of Science and Technology
基金
国家自然科学基金(51575120,51275106)
国家973计划(2013CB035502)。
关键词
六足机器人
辅助决策
驾驶员模型
地形评估
模糊推理
hexapod robots
assistant decision-making
driver model
terrain assessment
fuzzy reasoning
