本文選題：蛇形機器人　切入點：損傷恢復　出處：《中山大學》2017年碩士論文

【摘要】：蛇形機器人由于其多自由度帶來的運動靈活性開始被人們研制利用。幾十年來,已經有很多蛇形機器人樣機研制出來,甚至被應用到實際應用中。它們的機體結構多種多樣,實現的運動形式也各有不同。并且有豐富的控制方法被提出及使用。但是對于蛇形機器人有一個問題是需要面對的,而目前人們對這個問題還沒有太多關注,就是當蛇形機器人離開調試環(huán)境在復雜的自然環(huán)境中做自主運動時會不可避免的損壞。當蛇形機器人損傷時,現有的做法是要么停止當前作業(yè)由科研人員維修調試,要么根據自身預設的損傷模型進行檢測并以預設的應對措施應對。而預設的損傷檢測模型是有限的,人為的預想不可能覆蓋所有不可預知的損傷情況。本文引入一種較新的智能試錯學習算法應用在正交結構的蛇形機器人上,可以在不預設損傷模型的情況下,以不斷的試錯-學習過程指導蛇形機器人尋找更優(yōu)的補償行為。此算法目前被應用在六足機器人及機械臂上,還未被應用在蛇形機器人上。本文第一次將此算法應用在蛇形機器人上并在仿真工具上做多種方式的驗證。首先,本文闡述了蛇形機器人自主損傷恢復的意義,并對當前蛇形機器人的研究現狀及機器人的損傷恢復方面的研究做了介紹。其次,本文對智能試錯學習這一框架算法做了展開介紹,包括兩個重要的步驟—行為-性能映射表的建立、損傷恢復的適應過程。并討論了蛇形機器人采用的一般控制方式蜿蜒曲線。同時介紹了本文要使用的集成有物理引擎的仿真工具。然后,我們對使用智能試錯學習算法所需要的工作做了歸納總結。并對現有蛇形機器人平臺做了必要的總結,包括正交結構、傳感器系統(tǒng)等。然后,在歸納總結的框架下對我們將此框架算法應用在正交結構蛇形機器人上的工作及過程做了詳細的分析與闡述。包括控制器的定義、行為空間的定義及選擇、性能度量、算法內部方法選擇、樣本采集過程及具體實現等。最后,我們在仿真工具上對應用了智能試錯學習這一框架算法的蛇形機器人做了多種方式的驗證。包括單關節(jié)損傷的多種不同損傷角度的情況、雙關節(jié)同時損傷的多種典型情況,及三關節(jié)、多關節(jié)等極端的損傷情況做了驗證。
[Abstract]:Snake-like robots have been developed and utilized because of the flexibility of motion brought by their multi-degree of freedom. In recent decades, many snake robot prototypes have been developed and even applied to practical applications. And there are plenty of control methods that have been proposed and used. But there is a problem with snake robots that people don't pay much attention to. That is, when a snake robot leaves the debugging environment to do its own motion in a complex natural environment, it will inevitably be damaged. When the snake robot is damaged, the existing practice is to either stop the current operation and be repaired and debugged by the researchers. Either detect according to their own default damage model and respond with the default response. The default damage detection model is limited. This paper introduces a new intelligent trial and error learning algorithm which can be applied to a snake robot with orthogonal structure, without presupposing damage model. The algorithm is now applied to hexapod robots and robot manipulators to guide the snake robot to find better compensation behavior with continuous trial and error-learning process. This algorithm has not been applied to snake robot for the first time and has been verified in many ways by simulation tools. Firstly, the significance of self-damage recovery of snake robot is expounded. The present research situation of snake robot and the research of robot damage recovery are introduced. Secondly, this paper introduces the framework algorithm of intelligent trial and error learning. Consists of two important steps-the establishment of the Behavior-Performance Map, The adaptive process of damage recovery is discussed, and the general control method of serpentine robot is discussed. The simulation tools integrated with physical engine are also introduced in this paper. We make a summary of the work needed to use intelligent trial and error learning algorithm, and make a necessary summary of the existing snake robot platform, including orthogonal structure, sensor system and so on. In the framework of induction and summary, the work and process of applying this framework algorithm to the orthogonal snake robot are analyzed and explained in detail, including the definition of controller, the definition and choice of behavior space, the performance measurement, the definition of controller, the definition and selection of behavior space, and the measurement of performance, including the definition of controller, the definition and selection of behavior space. Algorithm internal method selection, sample collection process and specific implementation. Finally, In the simulation tool, we verify the snake robot with intelligent trial and error learning algorithm in many ways, including many different damage angles of single joint injury, and many typical cases of simultaneous joint damage. And three joints, multiple joints and other extreme injuries were verified.
【學位授予單位】：中山大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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本文編號：1661213