一种基于变权重的六足机器人共享遥操作控制

Aiming at the walking operation task of hexapod robot in complex terrain environment, a cooperative control strategy both considering the walking efficiency and stability margin of the robot is proposed. Based on the existing velocity-posture cooperative teleoperation framework, the strategy incorporates the shared control strategy to improve the maneuverability and coordination ability of the control system. The method introduces dominance factor as the control weight, which makes the master operator have different control weights on the speed layer and posture layer operation subsystems of the robot. The dominance factor is obtained using the fuzzy reasoner that takes the stability margin as its input. The dominance factor is introduced into the master slave controllers, and the master robot guides the operator to iterate the control instructions through generating haptic force. The Vortex semi-physical simulation platform and the experiment platform built with operating handles are used to verify the proposed method and the method is compared with traditional cooperative control mode. The experiment results show that operating the hexapod robot with the proposed strategy can reasonably control the speed and posture of the robot while ensuring the stability margin.