四足机器人折纸驱动软体尾肢研究及控制

连续体软体机器人具有高自由度灵活性与安全人机交互能力，其作为软体仿生肢体与四足等移动机器人平台结合，在机器人软硬结合方面实现软体尾肢辅助机器人运动、软体肢体安全交互等有着广阔的应用前景。本文围绕四足机器人气动折纸驱动软体尾肢，结合当前相关研究成果，在小应变折纸高性能软体驱动器、脊椎构型高动态软体尾肢建模与控制、高自由度机器人的高效路径规划算法三方面开展了相关研究，并通过实验论证了软体尾肢集成于四足机器人的协同控制初步效果，为面向四足机器人平台的软体尾肢的这一前沿领域提供理论基础、创新应用和技术积累。
首先，在小应变折纸高性能软体驱动器的研究方面，对折纸驱动器进行参数化设计，应用悬臂梁简化模型对驱动器折面的小应变折展进行力学建模，结合有限元仿真与实验证明了折纸结构设计与高模量柔性材料使用对软体驱动器刚度、驱动线性度、能量效率和负载能力的显著提升。
其次，在脊椎构型高动态软体尾肢建模与控制方面，设计并搭建了气动驱动集成控制系统。对软体尾肢关节进行了理论运动学与动力学建模，应用LSTM深度神经网络实现了软体尾肢的正向运动状态感知与反向输入气压预测。
再次，实现了软体尾肢与四足机器人的集成，建立了平面简化二刚体模型并基于该系统进行了动力学建模，通过实验演示了软体尾肢四足机器人系统步态同步摆动和击球动作的协同运动控制初步效果。
最后，为了实现软体肢体结合四足机器人的高自由度复杂机器人系统的高效路径规划，提出了一种基于采样的改进RRT路径规划算法RBI-RRT*，在六轴机械臂仿真与真机中进行了验证，证明该算法有效提高了在高维状态空间下的路径规划成功率与最优路径收敛效率。

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