基于异步控制的两栖机器人地面运动优化研究
Ground Motion Optimization of Amphibious Robots Based on Asynchronous Control

本文针对传统两栖机器人在复杂环境中运动方式单一的问题，通过采用理论分析、仿真分析、参数计算、实验研究与验证相结合的方式对波动鳍机器人陆上运动受力、陆上运动稳定性进行分析，提出了一种创新的解决方案。该方案灵感来源于尼罗河魔鬼鱼的长鳍波动模式。为了克服由于机身不稳定而导致的能量消耗增加和控制失衡的问题，我们设计了一种通过异步控制策略调整舵机输出的方法，使得双侧鳍面之间能够维持一个恒定的相位差，进而有效稳定了机器人的姿态。特别是对于缓解因相位不同步引起的俯仰角波动问题上表现尤为突出。实验数据显示，应用这种基于异步控制原理优化后的双边鳍面波相位差调节技术后，确实可以显著降低两栖机器人的俯仰角度变化幅度，证明了该方法的有效性及其在提高两栖机器人适应性和效率方面的潜力。
Address the issue of the single movement mode of traditional amphibious robots in complex environments. By combining theoretical analysis, simulation analysis, parameter calculation, experi- mental research and verification, it analyzes the land movement force and stability of the undulating fin robot. An innovative solution is proposed, inspired by the long fin undulation mode of the Nile devil fish. To overcome the problems of increased energy consumption and control imbalance due to unstable fuselage, we designed a method to adjust the output of the servo actuator through an asynchronous control strategy, so that a constant phase difference can be maintained between the undulating fin surfaces, thereby effectively stabilizing the robot’s posture. It is particularly prominent in alleviating the pitch angle fluctuation problem caused by out-of-phase. Experimental data shows that after applying this undulating fin surface wave phase difference adjustment technology optimized based on the asynchronous control principle, it can indeed significantly reduce the variation range of the pitch angle of amphibious robots, proving the effectiveness of this method and its potential in improving the adaptability and efficiency of amphibious robots.