Assistant Decisionmaking Method for Gaits of Hexapods Robot Based on Fuzzy Reasoning in Complex Terrain

YOU Bo; WANG Minglei; XU Jiazhong; LI Jiayu; DING Liang; GAO Haibo

doi:10.15938/j.jhust.2020.01.015

Chinese

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Assistant Decisionmaking Method for Gaits of Hexapods Robot Based on Fuzzy Reasoning in Complex Terrain

更新时间：2026-08-31

- Assistant Decisionmaking Method for Gaits of Hexapods Robot Based on Fuzzy Reasoning in Complex Terrain
- Vol. 25, Issue 1, Pages: 100-107(2020)
- 作者机构：
  
  1. 哈尔滨理工大学自动化学院,哈尔滨,150080
  2. 哈尔滨工业大学机电工程学院,哈尔滨,150080
- 作者简介：
- 基金信息：
- DOI：10.15938/j.jhust.2020.01.015
  CLC： TP242
- Published：2020
- 稿件说明：
移动端阅览
YOU Bo, WANG Minglei, XU Jiazhong, et al. Assistant Decisionmaking Method for Gaits of Hexapods Robot Based on Fuzzy Reasoning in Complex Terrain[J]. 2020, 25(1): 100-107.
DOI：

YOU Bo, WANG Minglei, XU Jiazhong, et al. Assistant Decisionmaking Method for Gaits of Hexapods Robot Based on Fuzzy Reasoning in Complex Terrain[J]. 2020, 25(1): 100-107. DOI： 10.15938/j.jhust.2020.01.015.

摘要

摘要:目前载人六足机器人驾驶员在复杂地形下步态决策完全依赖主观经验，为提高驾驶员决策质量，提出一种步态辅助决策方法。建立驾驶员信息处理模型，将地形环境作为决策因素，步态及优先级作为决策结果，利用模糊推理系统进行辅助决策；将坡度、起伏度、粗糙度及障碍高度明确为地形特征量，划分其隶属度并制定模糊规则库；利用半物理仿真操纵平台对比驾驶员在无辅助和有辅助时的决策结果。实验结果表明，辅助决策方法能够辅助驾驶员在地形变化时做出合理决策，提高六足机器人在复杂地形下的稳定性与操纵性。

Abstract

Thedrivers of manned hexapod robots rely on subjective experience in decisionmakingin complex terrain In order to improve the quality of drivers′ decisionmaking

an auxiliary decisionmaking method is proposed The information processing modelof drivers is established

and the terrain is used as the decision factor whilethe priorities of gaits as the result The fuzzy decisionmaking system isestablished to assist the drivers The slope

fluctuation

roughness and barrierheight are defined as the terrain features

degrees of membership are classifiedand the fuzzy rules are formulated The semiphysical simulation platform of thehexapod manipulation is used to compare the decision results of the driverswith auxiliary and without auxiliary The experimental results show that theauxiliary decision method can assist the driver to make reasonable decisionswhen the terrain changes

and increase stability and maneuverability of thehexapod robot in complex terrain

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