Fuzzy Adaptive Admittance Control of Hexapod Wheeled-Legged Robot Based on Real-Time Estimation

Abstract

A fuzzy adaptive admittance control method based on real-time estimation is proposed for the motion of the hexapod wheeled-legged robot in various environments.Firstly, the mechanical structure of the robot is designed, and a control system framework is proposed according to the different motion environments.To address the adaptability issue of the robot foot contact with the ground, a position-based admittance control method is proposed.Secondly, to improve the tracking performance of the robot foot contact force when the ground environment changes, a fuzzy adaptive admittance parameter adjustment method is proposed.Furthermore, to address the problem of sudden changes in the tracking difference of the foot contact force when the ground environment changes, a real-time estimation method is proposed to estimate the dynamic foot contact force.Finally, a simulation experiment is conducted in MATLAB and Simscape to verify the effectiveness of the robot motion control system, admittance control, fuzzy adaptive admittance parameters adjustment, and the realtime estimation method.Through multi-scenario experiments with the robot prototype, the control method demonstrates its effectiveness and adaptability in various environments.

Keywords

hexapod wheeled-legged robot / dynamic foot contact force / fuzzy adaptive / real-time estimation / admittance

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Funding

National Natural Science Foundation of China(U1831123)