提出一种可抗电机故障的充气桁架机器人控制方法，保持结构刚性与工作空间。
Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots
- 通过等式约束避免使用故障电机，支持任意电机失效组合。
- 在离散控制下实现>69%工作空间保留，单电机故障仍可用。
- 结合编码器反馈与状态估计，提升定位精度25%以上。
可展桁架机器人因高强重比、大变形能力和多构型重构性，适用于多样化任务与环境。然而，电机故障会严重削弱其功能。本文提出一种容错控制框架，使充气桁架机器人在电机故障下仍能维持功能。第一，将运动学优化扩展至任意电机故障组合，通过等式约束禁止使用故障执行器。第二，引入离散时间控制屏障函数（DTCBF），数学上保证结构刚性同时最大化工作空间利用率，满足离散控制下的可靠运行需求。第三，采用机载编码器反馈与基于正运动学的状态估计算法，实现闭环位置控制，在扰动下显著提升定位精度。通过二维可展桁架测试平台的仿真与硬件实验验证：6个执行器的二维配置中，单电机故障下工作空间保留率超69%，闭环控制使跟踪精度提升25%以上。该成果为退化驱动条件下更鲁棒、更韧性的可展桁架机器人奠定基础。
原文摘要 · Abstract (English)
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However, motor failures in operational environments can severely limit operational capabilities if not properly addressed. This paper presents a fault-tolerant control framework for an inflatable robotic truss that maintains functionality despite motor failures, shown through three key contributions. First, we extend the kinematic optimization to handle arbitrary combinations of motor failures by imposing equality constraints to ensure failed actuators are not used. Second, we introduce discrete-time control barrier function (DTCBF) constraints that mathematically guarantee structural rigidity while maximizing workspace utilization, a critical requirement for reliable operation of truss robots under discrete-time control. Third, we implement closed-loop position control using onboard encoder feedback and a forward kinematics-based state estimator, improving positional accuracy in the presence of disturbances. We validate our approach through simulation and hardware experiments on a 2D isoperimetric truss testbed. For a 2D configuration with 6 actuators, we demonstrate >69% workspace preservation under single-motor failures and a >25% improvement in tracking accuracy with closed-loop control. These results establish a foundation for more robust and resilient isoperimetric truss robots operating under degraded actuation.
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