Body Posture Planning Method for Unmanned Walking Excavators under Complex Terrain Environments

doi:10.3969/j.issn.1004-132X.2026.01.024

China Mechanical Engineering ›› 2026, Vol. 37 ›› Issue (1): 233-242.DOI: 10.3969/j.issn.1004-132X.2026.01.024

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Body Posture Planning Method for Unmanned Walking Excavators under Complex Terrain Environments

ZHAO Dingxuan¹(), GUO Rui¹^,², WANG Shuo³, YAN Changchang¹^,², WANG Zihe¹, ZHANG Tianci¹^,²()

^1.Hebei Key Laboratory of Special Carrier Equipment，Qinhuangdao，Hebei，066000
^2.School of Vehicle and Energy，Yanshan University，Qinhuangdao，Hebei，066000
^3.Beijing Institute of Special Electromechanical Technology，Beijing，100012

Received:2024-11-07 Online:2026-01-25 Published:2026-02-05
Contact: ZHANG Tianci

复杂地形环境下无人步履式挖掘机的车身姿态规划方法

赵丁选¹(), 郭瑞¹^,², 王硕³, 闫长长¹^,², 王子鹤¹, 张天赐¹^,²()

^1.河北省特种运载装备重点实验室, 秦皇岛, 066000
^2.燕山大学车辆与能源学院, 秦皇岛, 066000
^3.北京特种机电技术研究所, 北京, 100012

通讯作者: 张天赐
作者简介:赵丁选，男，1965年生，教授，博士研究生导师。研究方向为机械系统动力学及其仿真与控制。发表论文300余篇。E-mail： zdx@ysu.edu.cn
张天赐^*（通信作者），男，1993年生，讲师、硕士研究生导师。研究方向为无人驾驶工程车辆自主决策、数据挖掘与数据驱动设计、智能装备数字孪生。发表论文15篇。E-mail： ztc@ysu.edu.cn。
第一联系人：周彬，男，1988年生，副教授。研究方向为人车共驾、车辆智能控制。发表论文40余篇。E-mail： zhoubin@ctgu.edu.cn。董元发^*（通信作者），男，1988年生，教授、博士研究生导师。研究方向为智能装备系统设计与优化。发表论文100余篇。E-mail： dongyf@ctgu.edu.cn。
基金资助:
国家自然科学基金(U24A6008);河北省自然科学基金(E2024203257);河北省自然科学基金(E2024203065);河北省高等学校科学技术研究项目(BJ2025218)

Abstract

Abstract:

In unstructured terrain operations， the posture planning of UWE was of great significance for ensuring chassis stability and operational safety. A multi-objective optimization-based posture planning method was proposed herein. A 7-DOF kinematic model of the chassis was established， and the walking leg trajectories were generated by NURBS curves. A nonlinear multi-objective planning model integrating terrain constraints was constructed， with posture deviation and energy consumption were defined as optimization objectives. The proposed method was validated through high-fidelity mathematical-physical co-simulation and field experiments. The proposed planning method ensures that the UWE may traverse complex terrain with good posture.

Key words: unmanned walking excavator（UWE）, multi-objective optimization, NURBS curve, nonlinear trajectory planning

摘要：

非结构化地形作业中，无人步履式挖掘机的姿态规划对底盘稳定性与作业安全起着至关重要的作用。针对车身姿态控制问题，提出一种基于多目标优化的姿态规划方法。建立底盘的七自由度运动学模型，并利用NURBS曲线生成步行腿轨迹。以姿态偏差和能耗为优化目标，构建融合地形约束的非线性多目标规划模型。数学-物理联合仿真及实车实验表明，所提方法可保证无人步履式挖掘机以良好的姿态穿越复杂地形。

关键词: 无人步履式挖掘机, 多目标优化, 非均匀有理B样条曲线, 非线性轨迹规划

CLC Number:

TP242

ZHAO Dingxuan, GUO Rui, WANG Shuo, YAN Changchang, WANG Zihe, ZHANG Tianci. Body Posture Planning Method for Unmanned Walking Excavators under Complex Terrain Environments[J]. China Mechanical Engineering, 2026, 37(1): 233-242.

赵丁选, 郭瑞, 王硕, 闫长长, 王子鹤, 张天赐. 复杂地形环境下无人步履式挖掘机的车身姿态规划方法[J]. 中国机械工程, 2026, 37(1): 233-242.

Figures/Tables 13

Fig.1 A typical framework of the UWE

Fig.2 Coordinate system of the UWE

Fig.3 7-DoF kinematics model of the UWE

Fig.4 Schematic diagram of optimization process

Fig.5 Four typical obstacle conditions

Tab.1 Values of structure parameters of the UWE

l_a	l_b	l_c	l_leg	R
0.50	0.78	3.01	1.66	0.60

Tab.2 The upper and lower limits of the constraints

	θ/（°）	v_u/（m·s $- 1$ ）	$v ˙ u$ /（m·s $- 1$ ）	θ_s/（°）	φ_s/（°）	$z ¨ s$ /（m·s $- 1$ ）
上限	25	0.08	0.1	3	3	0.3
下限	$-$ 20	$-$ 0.08	$-$ 0.1	$-$ 3	$-$ 3	$-$ 0.3

Tab.2 The upper and lower limits of the constraints

	θ/（°）	v_u/（m·s $- 1$ ）	$v ˙ u$ /（m·s $- 1$ ）	θ_s/（°）	φ_s/（°）	$z ¨ s$ /（m·s $- 1$ ）
上限	25	0.08	0.1	3	3	0.3
下限	$-$ 20	$-$ 0.08	$-$ 0.1	$-$ 3	$-$ 3	$-$ 0.3

Fig.6 Comparison of the motion process of the controlled and uncontrolled

Fig.7 Controlled and uncontrolled vehicle body attitudes under different scenarios

Tab.3 Optimized results of 5 scenarios

工况	姿态	均值减小率	峰值减小率
中心对称单边桥	θ_s	78.87	73.18
	φ_s	88.40	84.06
	z_s	68.03	66.57
连续梯形	θ_s	83.63	73.14
	φ_s	89.20	92.30
	z_s	61.42	40.01
连续波浪	θ_s	80.05	85.15
	φ_s	86.21	94.81
	z_s	70.41	49.72
斜坡波浪	θ_s	74.40	87.42
	φ_s	89.23	93.48
	z_s	76.58	70.94
随机地形	θ_s	84.84	86.61
随机地形	φ_s	80.96	80.80

Fig.8 The sensors equipped on the UWE

Fig.9 Comparison of the UWE overcoming obstacles in two mode

Fig.10 Vehicle body attitude in real-world operation

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Body Posture Planning Method for Unmanned Walking Excavators under Complex Terrain Environments

复杂地形环境下无人步履式挖掘机的车身姿态规划方法

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