Design Of Assistant Decision-making System For Drivers Of Hexapod Robots In Complex Terrain

Due to the strong adaptability to terrain and high load capacity,hexapod robot are widely used in special fields such as emergency transportation and dangerous detection.With the continuously development of robot control technology,the motion control system of hexapod robot now can realize the autonomous control of typical gaits.However,hexapod robot cannot make autonomous decisions in the face of complex and changing terrain.Therefore,the decision-making of gaits needs to rely on the driver's wisdom.But,drivers are limited by subjective factors such as driving experience,body function or mental state,which cannot always ensure the quality of decisions and may have a serious impact on the safety and stability of the robot.In view of the above situations,the gait characteristics,terrain environment and the driver's decision-making process of hexapod robot are analyzed in the paper,and an assistant decision-making system based on fuzzy reasoning is designed to improve drivers'decision-making quality.Firstly,the typical gaits of hexapod robot and gait generation model based on central pattern generator are analyzed.At the same time,the complex terrains that the hexapod robot confronts are divided,and the gradient,undulation,roughness,height of the obstacle and the width of the moat are defined as the terrain features,and the evaluation scheme of the complex terrains is determined.According to the static stability criterion of legged robot,the stability change of hexapod robot during obstacle crossing process is analyzed and verified by simulation,and it provides theoretical support for the driver to formulate gait strategies.Secondly,based on the engineering psychology,the driver's decision-making process of hexapod robot is analyzed,and the driver decision-making model is established.Based on the terrain division and robot gait characteristics,the gait strategies of drivers under various terrains is proposed.Assistant decision-making system with fuzzy reasoning as the core is designed.The terrain environment is taken as the decision-making factor,walking gait and its priority as the decision-making result.The subordination degree of factors are divided and the fuzzy rules are established.Finally,the hardware-in-the-loop simulation platform of hexapod robot based on Vortex is built.Through the simulation platform to compare the decision-making results of the drivers that with and without assistance in slope topography,vertical obstacle topography and rugged terrain.The simulation results show that the assistant decision-making system designed in this paper can assist the driver in making reasonable decisions during the terrain changes and improve the stability and maneuverability of the hexapod robot under complex terrains.