关键词: 变胞机器人, 驻车转向重构, 运动学模型, 自适应阻抗控制, 粒子群优化算法

Abstract: Metamorphic robot might switch naturally between wheeled driving and foot walking according to the changes of external environments, so that the robot might both run fast on the smooth structure of the road and climb over obstacles in rugged mountains. Based on the generalized coordinate method, a kinematics model of the steering and reconstruction processes of the transformer robots was established. Considering the impacts of the swinging leg in contact with the environment during the reconstruction processes, an impedance control method was proposed to realize the landing smoothness control of the swinging legs. Based on the traditional impedance control, an adaptive impedance controller was designed based on Lyapunov asymptotic stability theorem, and the parameters of impedance control were optimized by particle swarm optimization algorithm. Through simulation analysis under different environmental stiffness, it is proved that the adaptive impedance controller after parameter optimization may follow the expected contact force well, and improve the adaptability of the variable cell robots to the unknown and changeable environments. Finally, a road experiment was carried out for the transformation robot to land on the feet in the reconfiguration processes, which further confirmed the superiority of the optimized adaptive impedance control method.

Key words: metamorphic robot, parking steering reconstruction, kinematics model, adaptive impedance control, particle swarm optimization algorithm