受损六足机器人无需训练即可快速恢复行走能力
Evolutionary Gait Reconfiguration in Damaged Legged Robots
- 通过生成新步态并用差分进化算法优化，实现损伤后自适应重构
- 在1小时内使24自由度六足机器人恢复行走，前进步速最大化
- 适用于复杂任务中易损的多足机器人，尤其适合应急场景
在复杂任务中部署的多足机器人容易因腿部损伤导致性能下降，甚至影响任务成败。本文提出一种无需训练的快速损伤恢复算法，适用于部分或完全丧失功能腿的情况。该方法首先通过生成新的步态序列稳定运动，随后利用自主研发的差分进化算法，对腿部步态进行最优重配置，以最大化前进速度，同时最小化机体旋转和侧向漂移。算法在24自由度六足机器人上成功实现一小时内恢复行走，表现出高效率与强鲁棒性。
原文摘要 · Abstract (English)
Multi-legged robots deployed in complex missions are susceptible to physical damage in their legs, impairing task performance and potentially compromising mission success. This letter presents a rapid, training-free damage recovery algorithm for legged robots subject to partial or complete loss of functional legs. The proposed method first stabilizes locomotion by generating a new gait sequence and subsequently optimally reconfigures leg gaits via a developed differential evolution algorithm to maximize forward progression while minimizing body rotation and lateral drift. The algorithm successfully restores locomotion in a 24-degree-of-freedom hexapod within one hour, demonstrating both high efficiency and robustness to structural damage.
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