关键词: 多足爬墙机器人, 能耗, 足力控制, 足底接触力

Abstract:

For the energy consumption problem of a multi-legged wall-climbing robot operating at high altitude, a foot force controlling method for multi-legged wall-climbing robot was proposed based on energy consumption optimization. Taking an eight-legged wall-climbing robot for example, a foot force optimization model of the multi-legged wall-climbing robot was described from the view of security and energy consumption while the robot was in operation, and the conversion between the joint driving force and the plantar contact force of the multi-legged robot was implemented, thus reducing the number of the optimal variables effectively and simplifying the optimization calculation. By analyzing the joint driving force constraints and dynamic constraints, a relationship among the total motor power of the robot and the robotic motive gait and the operational environment (including the climbing angle and the roughness of the adsorbed plane) was established. Considering the specificity of the safety of adsorption for the wall-climbing robot, the plantar contact force of the robot was optimized, and the ability of the robot was improved to adapt to the change of environment and the number of supporting legs. Simultaneously, the energy consumption of the joint driving motor is reduced, and the target to minimize the total consumption of the robotic motor is achieved. The experiments and simulation have proved that the proposed control method is simple and feasible.

Key words: multi-legged wall-climbing robot, energy consumption, foot force control, plantar contact force